相关论文: No Need for Interactions: Robust Model-Based Imita…

Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…

Behavior Foundation Models (BFMs) enable scalable imitation learning (IL) by pretraining task-agnostic representations that can be rapidly adapted to new tasks. However, existing BFMs assume fixed environment dynamics, limiting their…

We formulate the problem of learning to imitate multiple, non-deterministic teachers with minimal interaction cost. Rather than learning a specific policy as in standard imitation learning, the goal in this problem is to learn a…

Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

One of the main challenges in imitation learning is determining what action an agent should take when outside the state distribution of the demonstrations. Inverse reinforcement learning (IRL) can enable generalization to new states by…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…

Self-healing capability is one of the most critical factors for a resilient distribution system, which requires intelligent agents to automatically perform restorative actions online, including network reconfiguration and reactive power…

Imitation Learning (IL) aims to discover a policy by minimizing the discrepancy between the agent's behavior and expert demonstrations. However, IL is susceptible to limitations imposed by noisy demonstrations from non-expert behaviors,…

Despite massive empirical evaluations, one of the fundamental questions in imitation learning is still not fully settled: does AIL (adversarial imitation learning) provably generalize better than BC (behavioral cloning)? We study this open…

Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behaviors from expert demonstrations. However, existing IL methods…

Adversarial imitation learning (AIL) achieves high-quality imitation by mitigating compounding errors in behavioral cloning (BC), but often exhibits training instability due to adversarial optimization. To avoid this issue, a class of…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this setting the expert only supplies sequences of observations.…

In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…

Interactive Imitation Learning (IIL) is a branch of Imitation Learning (IL) where human feedback is provided intermittently during robot execution allowing an online improvement of the robot's behavior. In recent years, IIL has increasingly…

Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…

The end-to-end neural combinatorial optimization (NCO) method shows promising performance in solving complex combinatorial optimization problems without the need for expert design. However, existing methods struggle with large-scale…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…