相关论文: IQ-Learn: Inverse soft-Q Learning for Imitation

Explicit engineering of reward functions for given environments has been a major hindrance to reinforcement learning methods. While Inverse Reinforcement Learning (IRL) is a solution to recover reward functions from demonstrations only,…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

In advancing the understanding of natural decision-making processes, inverse reinforcement learning (IRL) methods have proven instrumental in reconstructing animal's intentions underlying complex behaviors. Given the recent development of a…

Despite remarkable successes in solving various complex decision-making tasks, training an imitation learning (IL) algorithm with deep neural networks (DNNs) suffers from the high computation burden. In this work, we propose quantum…

Imitation learning is well-suited for robotic tasks where it is difficult to directly program the behavior or specify a cost for optimal control. In this work, we propose a method for learning the reward function (and the corresponding…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Imitation Learning from observation describes policy learning in a similar way to human learning. An agent's policy is trained by observing an expert performing a task. While many state-only imitation learning approaches are based on…

Inverse Reinforcement Learning (IRL) learns an optimal policy, given some expert demonstrations, thus avoiding the need for the tedious process of specifying a suitable reward function. However, current methods are constrained by at least…

Inverse Reinforcement Learning (IRL) is attractive in scenarios where reward engineering can be tedious. However, prior IRL algorithms use on-policy transitions, which require intensive sampling from the current policy for stable and…

Implicit Q-learning (IQL) serves as a strong baseline for offline RL, which learns the value function using only dataset actions through quantile regression. However, it is unclear how to recover the implicit policy from the learned…

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…

We tackle a common scenario in imitation learning (IL), where agents try to recover the optimal policy from expert demonstrations without further access to the expert or environment reward signals. Except the simple Behavior Cloning (BC)…

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…

Imitation learning has been applied to a range of robotic tasks, but can struggle when robots encounter edge cases that are not represented in the training data (i.e., distribution shift). Interactive fleet learning (IFL) mitigates…

Inverse Reinforcement Learning (IRL) describes the problem of learning an unknown reward function of a Markov Decision Process (MDP) from observed behavior of an agent. Since the agent's behavior originates in its policy and MDP policies…

It is difficult to be able to imitate well in unknown states from a small amount of expert data and sampling data. Supervised learning methods such as Behavioral Cloning do not require sampling data, but usually suffer from distribution…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…