Related papers: GRAIL: Goal Recognition Alignment through Imitatio…

When intelligent agents learn visuomotor behaviors from human demonstrations, they may benefit from knowing where the human is allocating visual attention, which can be inferred from their gaze. A wealth of information regarding intelligent…

Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requires effective exploration during an online reinforcement…

Goal Recognition aims to infer an agent's goal from a sequence of observations. Existing approaches often rely on manually engineered domains and discrete representations. Deep Recognition using Actor-Critic Optimization (DRACO) is a novel…

Goal recognition design (GRD) aims to make limited modifications to decision-making environments to make it easier to infer the goals of agents acting within those environments. Although various research efforts have been made in goal…

This paper addresses the problem of inverse reinforcement learning (IRL) -- inferring the reward function of an agent from observing its behavior. IRL can provide a generalizable and compact representation for apprenticeship learning, and…

The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…

Advances in the field of inverse reinforcement learning (IRL) have led to sophisticated inference frameworks that relax the original modeling assumption of observing an agent behavior that reflects only a single intention. Instead of…

We study risk-sensitive imitation learning where the agent's goal is to perform at least as well as the expert in terms of a risk profile. We first formulate our risk-sensitive imitation learning setting. We consider the generative…

Reinforcement learning has been widely successful in producing agents capable of playing games at a human level. However, this requires complex reward engineering, and the agent's resulting policy is often unpredictable. Going beyond…

Recently, graph-based planning algorithms have gained much attention to solve goal-conditioned reinforcement learning (RL) tasks: they provide a sequence of subgoals to reach the target-goal, and the agents learn to execute…

Adversarial Imitation Learning (AIL) methods, while effective in settings with limited expert demonstrations, are often considered unstable. These approaches typically decompose into two components: Density Ratio (DR) estimation…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Training a policy in a source domain for deployment in the target domain under a dynamics shift can be challenging, often resulting in performance degradation. Previous work tackles this challenge by training on the source domain with…

It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to compounding errors or suboptimal solutions. In this paper, we…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

Understanding an agent's goal through its behavior is a common AI problem called Goal Recognition (GR). This task becomes particularly challenging in dynamic environments where goals are numerous and ever-changing. We introduce the General…

One of the main challenges in imitation learning is determining what action an agent should take when outside the state distribution of the demonstrations. Inverse reinforcement learning (IRL) can enable generalization to new states by…

Reinforcement learning has seen increasing applications in real-world contexts over the past few years. However, physical environments are often imperfect and policies that perform well in simulation might not achieve the same performance…

Online imitation learning (IL) is an algorithmic framework that leverages interactions with expert policies for efficient policy optimization. Here policies are optimized by performing online learning on a sequence of loss functions that…