相关论文: An Imitation from Observation Approach to Transfer…

Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the reality gap). Some existing solutions to this sim-to-real problem, such as Grounded…

Imitation learning seeks to circumvent the difficulty in designing proper reward functions for training agents by utilizing expert behavior. With environments modeled as Markov Decision Processes (MDP), most of the existing imitation…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

We focus on the problem of imitation learning from visual observations, where the learning agent has access to videos of experts as its sole learning source. The challenges of this framework include the absence of expert actions and the…

Robot control policies learned in simulation do not often transfer well to the real world. Many existing solutions to this sim-to-real problem, such as the Grounded Action Transformation (GAT) algorithm, seek to correct for or ground these…

Learning from Observations (LfO) is a practical reinforcement learning scenario from which many applications can benefit through the reuse of incomplete resources. Compared to conventional imitation learning (IL), LfO is more challenging…

To learn from data collected in diverse dynamics, Imitation from Observation (IfO) methods leverage expert state trajectories based on the premise that recovering expert state distributions in other dynamics facilitates policy learning in…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

In this paper, we introduce MAAD, a novel, sample-efficient on-policy algorithm for Imitation Learning from Observations. MAAD utilizes a surrogate reward signal, which can be derived from various sources such as adversarial games,…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

The imitation learning research community has recently made significant progress towards the goal of enabling artificial agents to imitate behaviors from video demonstrations alone. However, current state-of-the-art approaches developed for…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

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…

We study the question of how to imitate tasks across domains with discrepancies such as embodiment, viewpoint, and dynamics mismatch. Many prior works require paired, aligned demonstrations and an additional RL step that requires…

It is vital to learn effective policies that can be transferred to different domains with dynamics discrepancies in reinforcement learning (RL). In this paper, we consider dynamics adaptation settings where there exists dynamics mismatch…