相关论文: On Generalization of Adversarial Imitation Learnin…

A Markov Decision Process (MDP) is a popular model for reinforcement learning. However, its commonly used assumption of stationary dynamics and rewards is too stringent and fails to hold in adversarial, nonstationary, or multi-agent…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

Recent work by Jarrett et al. attempts to frame the problem of offline imitation learning (IL) as one of learning a joint energy-based model, with the hope of out-performing standard behavioral cloning. We suggest that notational issues…

Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…

Deep reinforcement learning (RL) has achieved breakthrough results on many tasks, but agents often fail to generalize beyond the environment they were trained in. As a result, deep RL algorithms that promote generalization are receiving…

The goal of imitation learning (IL) is to learn a good policy from high-quality demonstrations. However, the quality of demonstrations in reality can be diverse, since it is easier and cheaper to collect demonstrations from a mix of experts…

Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function…

Imitation learning (IL) aims to learn a policy from expert demonstrations that minimizes the discrepancy between the learner and expert behaviors. Various imitation learning algorithms have been proposed with different pre-determined…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

Often times in imitation learning (IL), the environment we collect expert demonstrations in and the environment we want to deploy our learned policy in aren't exactly the same (e.g. demonstrations collected in simulation but deployment in…

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…

Offline reinforcement learning (RL) tasks require the agent to learn from a pre-collected dataset with no further interactions with the environment. Despite the potential to surpass the behavioral policies, RL-based methods are generally…

In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…

Adversarial imitation learning has become a popular framework for imitation in continuous control. Over the years, several variations of its components were proposed to enhance the performance of the learned policies as well as the sample…

Imitation Learning (IL) algorithms are typically evaluated in the same environment that was used to create demonstrations. This rewards precise reproduction of demonstrations in one particular environment, but provides little information…

Learning models that gracefully handle distribution shifts is central to research on domain generalization, robust optimization, and fairness. A promising formulation is domain-invariant learning, which identifies the key issue of learning…

Reinforcement learning (RL) provides a powerful framework for decision-making, but its application in practice often requires a carefully designed reward function. Adversarial Imitation Learning (AIL) sheds light on automatic policy…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

Improving the reasoning capabilities of large language models (LLMs) typically relies either on the model's ability to sample a correct solution to be reinforced or on the existence of a stronger model able to solve the problem. However,…