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

In imitation learning, robots are supposed to learn from demonstrations of the desired behavior. Most of the work in imitation learning for swarm robotics provides the demonstrations as rollouts of an existing policy. In this work, we…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Demonstrations are an effective alternative to task specification for learning agents in settings where designing a reward function is difficult. However, demonstrating expert behavior in the action space of the agent becomes unwieldy when…

Training agents in multi-agent competitive games presents significant challenges due to their intricate nature. These challenges are exacerbated by dynamics influenced not only by the environment but also by opponents' strategies. Existing…

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…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…

Domain-adaptive trajectory imitation is a skill that some predators learn for survival, by mapping dynamic information from one domain (their speed and steering direction) to a different domain (current position of the moving prey). An…

Wearable sensors in Internet of Things (IoT) ecosystems increasingly support applications such as remote health monitoring, elderly care, and smart home automation, all of which rely on robust human activity recognition (HAR). Continual…

Existing learning from demonstration algorithms usually assume access to expert demonstrations. However, this assumption is limiting in many real-world applications since the collected demonstrations may be suboptimal or even consist of…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

Imitation learning algorithms can be used to learn a policy from expert demonstrations without access to a reward signal. However, most existing approaches are not applicable in multi-agent settings due to the existence of multiple (Nash)…

Many modern methods for imitation learning and inverse reinforcement learning, such as GAIL or AIRL, are based on an adversarial formulation. These methods apply GANs to match the expert's distribution over states and actions with the…

Imitation learning from observation (LfO) is more preferable than imitation learning from demonstration (LfD) due to the nonnecessity of expert actions when reconstructing the expert policy from the expert data. However, previous studies…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

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…

Domain Adaptation is an actively researched problem in Computer Vision. In this work, we propose an approach that leverages unsupervised data to bring the source and target distributions closer in a learned joint feature space. We…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…