相关论文: Risk-Sensitive Generative Adversarial Imitation Le…

In general-sum games, the interaction of self-interested learning agents commonly leads to socially worse outcomes, such as defect-defect in the iterated stag hunt (ISH). Previous works address this challenge by sharing rewards or shaping…

Recently, GAIL framework and various variants have shown remarkable possibilities for solving practical MDP problems. However, detailed researches of low-level, and high-dimensional state input in this framework, such as image sequences,…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

Reinforcement learning algorithms in multi-agent systems deliver highly resilient and adaptable solutions for common problems in telecommunications,aerospace, and industrial robotics. However, achieving an optimal global goal remains a…

In this work, we introduce a new method for imitation learning from video demonstrations. Our method, Relational Mimic (RM), improves on previous visual imitation learning methods by combining generative adversarial networks and relational…

Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle…

Imitation Learning (IL) methods seek to match the behavior of an agent with that of an expert. In the present work, we propose a new IL method based on a conceptually simple algorithm: Primal Wasserstein Imitation Learning (PWIL), which…

Deriving event storylines is an effective summarization method to succinctly organize extensive information, which can significantly alleviate the pain of information overload. The critical challenge is the lack of widely recognized…

We propose MAD-GAN, an intuitive generalization to the Generative Adversarial Networks (GANs) and its conditional variants to address the well known problem of mode collapse. First, MAD-GAN is a multi-agent GAN architecture incorporating…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations (LfD) approaches…

Learning agile skills is one of the main challenges in robotics. To this end, reinforcement learning approaches have achieved impressive results. These methods require explicit task information in terms of a reward function or an expert…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

Generative adversarial networks (GANs) are a class of generative models, known for producing accurate samples. The key feature of GANs is that there are two antagonistic neural networks: the generator and the discriminator. The main…

Attacks on machine learning models have been extensively studied through stateless optimization. In this paper, we demonstrate how a reinforcement learning (RL) agent can learn a new class of attack algorithms that generate adversarial…

One of the training strategies of generative models is to minimize the Jensen--Shannon divergence between the model distribution and the data distribution. Since data distribution is unknown, generative adversarial networks (GANs) formulate…

Achieving robust performance is crucial when applying deep reinforcement learning (RL) in safety critical systems. Some of the state of the art approaches try to address the problem with adversarial agents, but these agents often require…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

Generative adversarial networks (GANs) are a class of generative models with two antagonistic neural networks: a generator and a discriminator. These two neural networks compete against each other through an adversarial process that can be…