相关论文: Versatile Offline Imitation from Observations and …

The goal in offline data-driven decision-making is synthesize decisions that optimize a black-box utility function, using a previously-collected static dataset, with no active interaction. These problems appear in many forms: offline…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

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…

Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinforcement learning requires reward engineering and learns…

Offline reinforcement learning (RL) provides a promising direction to exploit massive amount of offline data for complex decision-making tasks. Due to the distribution shift issue, current offline RL algorithms are generally designed to be…

Mobile platforms must satisfy the contradictory requirements of fast response time and minimum energy consumption as a function of dynamically changing applications. To address this need, system-on-chips (SoC) that are at the heart of these…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

The ability to discover useful behaviours from past experience and transfer them to new tasks is considered a core component of natural embodied intelligence. Inspired by neuroscience, discovering behaviours that switch at bottleneck states…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

In this paper, we introduce MAAD, a novel, sample-efficient on-policy algorithm for Imitation Learning from Observations. MAAD utilizes a surrogate reward signal, which can be derived from various sources such as adversarial games,…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

Although Behavioral Cloning (BC) in theory suffers compounding errors, its scalability and simplicity still makes it an attractive imitation learning algorithm. In contrast, imitation approaches with adversarial training typically does not…

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…

Studying how to fine-tune offline reinforcement learning (RL) pre-trained policy is profoundly significant for enhancing the sample efficiency of RL algorithms. However, directly fine-tuning pre-trained policies often results in sub-optimal…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Offline Reinforcement Learning (RL) aims to learn a near-optimal policy from a fixed dataset of transitions collected by another policy. This problem has attracted a lot of attention recently, but most existing methods with strong…

Imitation learning algorithms have been interpreted as variants of divergence minimization problems. The ability to compare occupancy measures between experts and learners is crucial in their effectiveness in learning from demonstrations.…

We present GradientDICE for estimating the density ratio between the state distribution of the target policy and the sampling distribution in off-policy reinforcement learning. GradientDICE fixes several problems of GenDICE (Zhang et al.,…