相关论文: Generative Adversarial Self-Imitation Learning

Recently, a simple yet effective algorithm -- goal-conditioned supervised-learning (GCSL) -- was proposed to tackle goal-conditioned reinforcement-learning. GCSL is based on the principle of hindsight learning: by observing states visited…

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

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…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Imitation learning (IL) aims to learn a policy from expert demonstrations that minimizes the discrepancy between the learner and expert behaviors. Various imitation learning algorithms have been proposed with different pre-determined…

Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

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…

Reinforcement learning faces significant challenges when applied to tasks characterized by sparse reward structures. Although imitation learning, within the domain of supervised learning, offers faster convergence, it relies heavily on…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…

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…

We explore methodologies to improve the robustness of generative adversarial imitation learning (GAIL) algorithms to observation noise. Towards this objective, we study the effect of local Lipschitzness of the discriminator and the…

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 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…

This paper proposes Self-Imitation Learning (SIL), a simple off-policy actor-critic algorithm that learns to reproduce the agent's past good decisions. This algorithm is designed to verify our hypothesis that exploiting past good…

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…

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…

In this paper, a novel generative adversarial imitation learning (GAIL)-powered policy learning approach is proposed for optimizing beamforming, spectrum allocation, and remote user equipment (RUE) association in NTNs. Traditional…

Imitation learning is often used in addition to reinforcement learning in environments where reward design is difficult or where the reward is sparse, but it is difficult to be able to imitate well in unknown states from a small amount of…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…