相关论文: SS-MAIL: Self-Supervised Multi-Agent Imitation Lea…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

Adversarial imitation learning (AIL) achieves high-quality imitation by mitigating compounding errors in behavioral cloning (BC), but often exhibits training instability due to adversarial optimization. To avoid this issue, a class of…

Simulation is an appealing option for validating the safety of autonomous vehicles. Generative Adversarial Imitation Learning (GAIL) has recently been shown to learn representative human driver models. These human driver models were learned…

Model-based imitation learning (MBIL) is a popular reinforcement learning method that improves sample efficiency on high-dimension input sources, such as images and videos. Following the convention of MBIL research, existing algorithms are…

Adversarial imitation learning (AIL), a prominent approach in imitation learning, has achieved significant practical success powered by neural network approximation. However, existing theoretical analyses of AIL are primarily confined to…

Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…

In this work, we present the first theoretical analysis of multi-agent imitation learning (MAIL) in linear Markov games where both the transition dynamics and each agent's reward function are linear in some given features. We demonstrate…

We study a multi-agent imitation learning (MAIL) problem where we take the perspective of a learner attempting to coordinate a group of agents based on demonstrations of an expert doing so. Most prior work in MAIL essentially reduces the…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

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…

Surgical robot task automation has recently attracted great attention due to its potential to benefit both surgeons and patients. Reinforcement learning (RL) based approaches have demonstrated promising ability to provide solutions to…

Generative adversarial learning is a popular new approach to training generative models which has been proven successful for other related problems as well. The general idea is to maintain an oracle $D$ that discriminates between the…

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved…

Successful collaboration requires team members to stay aligned, especially in complex sequential tasks. Team members must dynamically coordinate which subtasks to perform and in what order. However, real-world constraints like partial…

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…

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…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…