相关论文: Imitation Learning as $f$-Divergence Minimization

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…

In many settings, it is desirable to learn decision-making and control policies through learning or bootstrapping from expert demonstrations. The most common approaches under this Imitation Learning (IL) framework are Behavioural Cloning…

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…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

Hindsight goal relabeling has become a foundational technique in multi-goal reinforcement learning (RL). The essential idea is that any trajectory can be seen as a sub-optimal demonstration for reaching its final state. Intuitively,…

In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Imitation learning (IL) algorithms use expert demonstrations to learn a specific task. Most of the existing approaches assume that all expert demonstrations are reliable and trustworthy, but what if there exist some adversarial…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

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…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Imitation learning is well-suited for robotic tasks where it is difficult to directly program the behavior or specify a cost for optimal control. In this work, we propose a method for learning the reward function (and the corresponding…

Imitation Learning from observation describes policy learning in a similar way to human learning. An agent's policy is trained by observing an expert performing a task. While many state-only imitation learning approaches are based on…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

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…