相关论文: On Value Discrepancy of Imitation Learning

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Consider learning a generative model for time-series data. The sequential setting poses a unique challenge: Not only should the generator capture the conditional dynamics of (stepwise) transitions, but its open-loop rollouts should also…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Class incremental learning (CIL) algorithms aim to continually learn new object classes from incrementally arriving data while not forgetting past learned classes. The common evaluation protocol for CIL algorithms is to measure the average…

Imitation learning can reproduce policies by observing experts, which poses a problem regarding policy privacy. Policies, such as human, or policies on deployed robots, can all be cloned without consent from the owners. How can we protect…

While guided decoding, especially value-guided methods, has emerged as a cost-effective alternative for controlling language model outputs without re-training models, its effectiveness is limited by the accuracy of the value function. We…

Many tasks in practice require the collaboration of multiple agents through reinforcement learning. In general, cooperative multiagent reinforcement learning algorithms can be classified into two paradigms: Joint Action Learners (JALs) and…

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

Imitation learning trains policies to map from input observations to the actions that an expert would choose. In this setting, distribution shift frequently exacerbates the effect of misattributing expert actions to nuisance correlates…

Imitation learning suffers from causal confusion. This phenomenon occurs when learned policies attend to features that do not causally influence the expert actions but are instead spuriously correlated. Causally confused agents produce low…

Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the emergence of multi-modal data distributions, thereby…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Imitation learning (IL) provides a data-driven framework for approximating policies for large-scale combinatorial optimisation problems formulated as sequential decision problems (SDPs), where exact solution methods are computationally…

Existing imitation learning works mainly assume that the demonstrator who collects demonstrations shares the same dynamics as the imitator. However, the assumption limits the usage of imitation learning, especially when collecting…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

We examine the problem of transferring a policy learned in a source environment to a target environment with different dynamics, particularly in the case where it is critical to reduce the amount of interaction with the target environment…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…