相关论文: Imitation Learning from Imperfect Demonstration
Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…
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…
Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…
Imitation Learning from Observation (IfO) offers a powerful way to learn behaviors at large-scale: Unlike behavior cloning or offline reinforcement learning, IfO can leverage action-free demonstrations and thus circumvents the need for…
The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…
While combining imitation learning (IL) and reinforcement learning (RL) is a promising way to address poor sample efficiency in autonomous behavior acquisition, methods that do so typically assume that the requisite behavior demonstrations…
Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…
The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…
Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…
Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…
Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…
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…
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…
Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…
Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…
Inverse reinforcement learning (IRL) infers a reward function from demonstrations, allowing for policy improvement and generalization. However, despite much recent interest in IRL, little work has been done to understand the minimum set of…
Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations…
Imitation learning trains a policy from expert demonstrations. Imitation learning approaches have been designed from various principles, such as behavioral cloning via supervised learning, apprenticeship learning via inverse reinforcement…
Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…
Imitation learning is a primary approach to improve the efficiency of reinforcement learning by exploiting the expert demonstrations. However, in many real scenarios, obtaining expert demonstrations could be extremely expensive or even…