相关论文: Risk-Sensitive Generative Adversarial Imitation Le…
This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…
We study the problem of training a risk-sensitive reinforcement learning (RL) agent through imitation learning (IL). Unlike standard IL, our goal is not only to train an agent that matches the expert's expected return (i.e., its average…
Generative Adversarial Imitation Learning (GAIL) stands as a cornerstone approach in imitation learning. This paper investigates the gradient explosion in two types of GAIL: GAIL with deterministic policy (DE-GAIL) and GAIL with stochastic…
In generative adversarial imitation learning (GAIL), the agent aims to learn a policy from an expert demonstration so that its performance cannot be discriminated from the expert policy on a certain predefined reward set. In this paper, we…
Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…
Deep generative models have recently shown great promise in imitation learning for motor control. Given enough data, even supervised approaches can do one-shot imitation learning; however, they are vulnerable to cascading failures when the…
Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…
Multiple autonomous underwater vehicles (multi-AUV) can cooperatively accomplish tasks that a single AUV cannot complete. Recently, multi-agent reinforcement learning has been introduced to control of multi-AUV. However, designing efficient…
Decision-making in long-tail scenarios is pivotal to autonomous-driving development, and realistic and challenging simulations play a crucial role in testing safety-critical situations. However, existing open-source datasets lack systematic…
Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…
Generative adversarial imitation learning (GAIL) is a model-free algorithm that has been shown to provide strong results in imitating complex behaviors in high-dimensional environments. In this paper, we utilize the GAIL model for text…
Generative adversarial learning is a popular new approach to training generative models which has been proven successful for other related problems as well. The general idea is to maintain an oracle $D$ that discriminates between the…
Deriving robust control policies for realistic urban navigation scenarios is not a trivial task. In an end-to-end approach, these policies must map high-dimensional images from the vehicle's cameras to low-level actions such as steering and…
One typical assumption in inverse reinforcement learning (IRL) is that human experts act to optimize the expected utility of a stochastic cost with a fixed distribution. This assumption deviates from actual human behaviors under ambiguity.…
Integration of reinforcement learning and imitation learning is an important problem that has been studied for a long time in the field of intelligent robotics. Reinforcement learning optimizes policies to maximize the cumulative reward,…
Penetration testing (PT) is an efficient network testing and vulnerability mining tool by simulating a hacker's attack for valuable information applied in some areas. Compared with manual PT, intelligent PT has become a dominating…
Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…
Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…
Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…
We propose Generative Adversarial Regression (GAR), a framework for learning conditional risk scenarios through generators aligned with downstream risk objectives. GAR builds on a regression characterization of conditional risk for…