相关论文: Imitation Learning with Human Eye Gaze via Multi-O…

Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from causal confusion, where agents…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

When intelligent agents learn visuomotor behaviors from human demonstrations, they may benefit from knowing where the human is allocating visual attention, which can be inferred from their gaze. A wealth of information regarding intelligent…

Vision-based autonomous driving through imitation learning mimics the behaviors of human drivers by training on pairs of data of raw driver-view images and actions. However, there are other cues, e.g. gaze behavior, available from human…

Human gaze is known to be an intention-revealing signal in human demonstrations of tasks. In this work, we use gaze cues from human demonstrators to enhance the performance of agents trained via three popular imitation learning methods --…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

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…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

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…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

Zero-shot action recognition requires a strong ability to generalize from pre-training and seen classes to novel unseen classes. Similarly, continual learning aims to develop models that can generalize effectively and learn new tasks…

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

Generative Adversarial Imitation Learning (GAIL) is a powerful and practical approach for learning sequential decision-making policies. Different from Reinforcement Learning (RL), GAIL takes advantage of demonstration data by experts (e.g.,…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…