相关论文: A Pragmatic Look at Deep Imitation Learning

In recent years, Hypergraph Neural Networks (HNNs) have demonstrated immense potential in handling complex systems with high-order interactions. However, acquiring large-scale, high-quality labeled data for these models is costly, making…

Recent work on imitation learning has generated policies that reproduce expert behavior from multi-modal data. However, past approaches have focused only on recreating a small number of distinct, expert maneuvers, or have relied on…

Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies are crucial to the…

While reinforcement learning (RL) has shown promising performance, its sample complexity continues to be a substantial hurdle, restricting its broader application across a variety of domains. Imitation learning (IL) utilizes oracles to…

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Interactive Imitation Learning (IIL) allows agents to acquire desired behaviors through human interventions, but current methods impose high cognitive demands on human supervisors. We propose the Adaptive Intervention Mechanism (AIM), a…

We propose an adversarial deep reinforcement learning (ADRL) algorithm for high-dimensional stochastic control problems. Inspired by the information relaxation duality, ADRL reformulates the control problem as a min-max optimization between…

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…

We provide a unifying view of a large family of previous imitation learning algorithms through the lens of moment matching. At its core, our classification scheme is based on whether the learner attempts to match (1) reward or (2)…

Multi-objective reinforcement learning (MORL) algorithms tackle sequential decision problems where agents may have different preferences over (possibly conflicting) reward functions. Such algorithms often learn a set of policies (each…

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.…

Imitation learning (IL) is a general learning paradigm for tackling sequential decision-making problems. Interactive imitation learning, where learners can interactively query for expert demonstrations, has been shown to achieve provably…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

Deep neural networks coupled with fast simulation and improved computation have led to recent successes in the field of reinforcement learning (RL). However, most current RL-based approaches fail to generalize since: (a) the gap between…

Aligning generative diffusion models with human preferences via reinforcement learning (RL) is critical yet challenging. Most existing algorithms are often vulnerable to reward hacking, such as quality degradation, over-stylization, or…

Standard imitation learning can fail when the expert demonstrators have different sensory inputs than the imitating agent. This is because partial observability gives rise to hidden confounders in the causal graph. In previous work, to work…

Multi-agent adversarial inverse reinforcement learning (MA-AIRL) is a recent approach that applies single-agent AIRL to multi-agent problems where we seek to recover both policies for our agents and reward functions that promote expert-like…

To achieve general intelligence, agents must learn how to interact with others in a shared environment: this is the challenge of multiagent reinforcement learning (MARL). The simplest form is independent reinforcement learning (InRL), where…

Inverse Reinforcement Learning (IRL) aims to reconstruct the reward function from expert demonstrations to facilitate policy learning, and has demonstrated its remarkable success in imitation learning. To promote expert-like behavior,…