相关论文: Non-Adversarial Imitation Learning and its Connect…

Many recent successful off-policy multi-agent reinforcement learning (MARL) algorithms for cooperative partially observable environments focus on finding factorized value functions, leading to convoluted network structures. Building on the…

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the…

We present an approach for mobile robots to learn to navigate in dynamic environments with pedestrians via raw depth inputs, in a socially compliant manner. To achieve this, we adopt a generative adversarial imitation learning (GAIL)…

Mean field games (MFGs) provide a mathematically tractable framework for modelling large-scale multi-agent systems by leveraging mean field theory to simplify interactions among agents. It enables applying inverse reinforcement learning…

Deep neural networks are vulnerable to adversarial examples. Adversarial training (AT) is an effective defense against adversarial examples. However, AT is prone to overfitting which degrades robustness substantially. Recently, data…

Inverse reinforcement learning (IRL) is the problem of learning the preferences of an agent from the observations of its behavior on a task. While this problem has been well investigated, the related problem of {\em online} IRL---where the…

Adversarial training has become the primary method to defend against adversarial samples. However, it is hard to practically apply due to many shortcomings. One of the shortcomings of adversarial training is that it will reduce the…

Partial domain adaptation aims to transfer knowledge from a label-rich source domain to a label-scarce target domain which relaxes the fully shared label space assumption across different domains. In this more general and practical…

We present a novel method and analysis to train generative adversarial networks (GAN) in a stable manner. As shown in recent analysis, training is often undermined by the probability distribution of the data being zero on neighborhoods of…

We identify two issues with the family of algorithms based on the Adversarial Imitation Learning framework. The first problem is implicit bias present in the reward functions used in these algorithms. While these biases might work well for…

Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…

Inverse reinforcement learning has proved its ability to explain state-action trajectories of expert agents by recovering their underlying reward functions in increasingly challenging environments. Recent advances in adversarial learning…

Adversarial training is a widely-applied approach to training deep neural networks to be robust against adversarial perturbation. However, although adversarial training has achieved empirical success in practice, it still remains unclear…

For flexible yet safe imitation learning (IL), we propose theory and a modular method, with a safety layer that enables a closed-form probability density/gradient of the safe generative continuous policy, end-to-end generative adversarial…

The Generative Adversarial Network (GAN) was recently introduced in the literature as a novel machine learning method for training generative models. It has many applications in statistics such as nonparametric clustering and nonparametric…

This paper introduces a new imitation learning framework based on energy-based generative models capable of learning complex, physics-dependent, robot motion policies through state-only expert motion trajectories. Our algorithm, called…

We introduce a novel approach for training adversarial models by replacing the discriminator score with a bi-modal Gaussian distribution over the real/fake indicator variables. In order to do this, we train the Gaussian classifier to match…

Decentralized multi-agent reinforcement learning (MARL) algorithms have become popular in the literature since it allows heterogeneous agents to have their own reward functions as opposed to canonical multi-agent Markov Decision Process…

Post-training of flow matching models-aligning the output distribution with a high-quality target-is mathematically equivalent to imitation learning. While Supervised Fine-Tuning mimics expert demonstrations effectively, it cannot correct…

Generative adversarial networks (GANs) are designed with the help of min-max optimization problems that are solved with stochastic gradient-type algorithms which are known to be non-robust. In this work we revisit a non-adversarial method…