相关论文: A Pragmatic Look at Deep Imitation Learning

Realistic traffic simulation is critical for the development of autonomous driving systems and urban mobility planning, yet existing imitation learning approaches often fail to model realistic traffic behaviors. Behavior cloning suffers…

With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…

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…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…

In this study, we address the challenge of obstacle avoidance for Unmanned Aerial Vehicles (UAVs) through an innovative composite imitation learning approach that combines Proximal Policy Optimization (PPO) with Behavior Cloning (BC) and…

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)…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…

Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Multiple autonomous underwater vehicles (multi-AUV) can cooperatively accomplish tasks that a single AUV cannot complete. Recently, multi-agent reinforcement learning has been introduced to control of multi-AUV. However, designing efficient…

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…

Inferring an adversary's goals from exhibited behavior is crucial for counterplanning and non-cooperative multi-agent systems in domains like cybersecurity, military, and strategy games. Deep Inverse Reinforcement Learning (IRL) methods…

Inverse Reinforcement Learning (IRL) is a powerful paradigm for inferring a reward function from expert demonstrations. Many IRL algorithms require a known transition model and sometimes even a known expert policy, or they at least require…

Recently, Offline Reinforcement Learning (RL) has achieved remarkable progress with the emergence of various algorithms and datasets. However, these methods usually focus on algorithmic advancements, ignoring that many low-level…

Industrial robot manipulators are not able to match the precision and speed with which humans are able to execute contact rich tasks even to this day. Therefore, as a means overcome this gap, we demonstrate generative methods for imitating…

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…

Reinforcement learning (RL) approaches for Large Language Models (LLMs) frequently use on-policy algorithms, such as PPO or GRPO. However, policy lag from distributed training architectures and differences between the training and inference…