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

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…

Modeling continuous dynamical systems from discretely sampled observations is a fundamental problem in data science. Often, such dynamics are the result of non-local processes that present an integral over time. As such, these systems are…

Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Current lane detection methods are struggling with the invisibility lane issue caused by heavy shadows, severe road mark degradation, and serious vehicle occlusion. As a result, discriminative lane features can be barely learned by the…

Consider the problem setting of Interaction-Grounded Learning (IGL), in which a learner's goal is to optimally interact with the environment with no explicit reward to ground its policies. The agent observes a context vector, takes an…

Generative Adversarial Imitation Learning (GAIL) trains a generative policy to mimic a demonstrator. It uses on-policy Reinforcement Learning (RL) to optimize a reward signal derived from a GAN-like discriminator. A major drawback of GAIL…

By interpreting the forward dynamics of the latent representation of neural networks as an ordinary differential equation, Neural Ordinary Differential Equation (Neural ODE) emerged as an effective framework for modeling a system dynamics…

In this paper, we study offline-to-online Imitation Learning (IL) that pretrains an imitation policy from static demonstration data, followed by fast finetuning with minimal environmental interaction. We find the na\"ive combination of…

Imitation Learning (IL) is a popular paradigm for training agents to achieve complicated goals by leveraging expert behavior, rather than dealing with the hardships of designing a correct reward function. With the environment modeled as a…

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…

Imitation Learning (IL) is a promising paradigm for teaching robots to perform novel tasks using demonstrations. Most existing approaches for IL utilize neural networks (NN), however, these methods suffer from several well-known…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…