相关论文: Augmented Behavioral Cloning from Observation

We compare how well agents aggregate information in two repeated social learning environments. In the first setting agents have access to a public data set. In the second they have access to the same data, and also to the past actions of…

Offline imitation learning typically learns from expert and unlabeled demonstrations, yet often overlooks the valuable signal in explicitly undesirable behaviors. In this work, we study offline imitation learning from contrasting behaviors,…

Unlike most reinforcement learning agents which require an unrealistic amount of environment interactions to learn a new behaviour, humans excel at learning quickly by merely observing and imitating others. This ability highly depends on…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Crowd simulation, the study of the movement of multiple agents in complex environments, presents a unique application domain for machine learning. One challenge in crowd simulation is to imitate the movement of expert agents in highly dense…

Domain adaptation in imitation learning represents an essential step towards improving generalizability. However, even in the restricted setting of third-person imitation where transfer is between isomorphic Markov Decision Processes, there…

Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…

Learning from Observation (LfO), also known as Behavioral Cloning, is an approach for building software agents by recording the behavior of an expert (human or artificial) and using the recorded data to generate the required behavior. jLOAF…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

Online imitation learning is the problem of how best to mimic expert demonstrations, given access to the environment or an accurate simulator. Prior work has shown that in the infinite sample regime, exact moment matching achieves value…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

Offline Reinforcement Learning (RL) addresses the problem of sequential decision-making by learning optimal policy through pre-collected data, without interacting with the environment. As yet, it has remained somewhat impractical, because…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

We consider the problem of imitation learning from a finite set of expert trajectories, without access to reinforcement signals. The classical approach of extracting the expert's reward function via inverse reinforcement learning, followed…

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…