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Imitation learning algorithms learn a policy from demonstrations of expert behavior. We show that, for deterministic experts, imitation learning can be done by reduction to reinforcement learning with a stationary reward. Our theoretical…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Imitation learning trains a policy by mimicking expert demonstrations. Various imitation methods were proposed and empirically evaluated, meanwhile, their theoretical understanding needs further studies. In this paper, we firstly analyze…

Behavioral cloning uses a dataset of demonstrations to learn a policy. To overcome computationally expensive training procedures and address the policy adaptation problem, we propose to use latent spaces of pre-trained foundation models to…

High-dimensional representations, such as radial basis function networks or tile coding, are common choices for policy evaluation in reinforcement learning. Learning with such high-dimensional representations, however, can be expensive,…

As deep reinforcement learning driven by visual perception becomes more widely used there is a growing need to better understand and probe the learned agents. Understanding the decision making process and its relationship to visual inputs…

We present a novel approach to the automatic synthesis of recursive programs from mixed-quantifier first-order logic properties. Our approach uses Skolemization to reduce the mixed-quantifier synthesis problem to a $\forall^*$-synthesis…

Our goal is to build systems which write code automatically from the kinds of specifications humans can most easily provide, such as examples and natural language instruction. The key idea of this work is that a flexible combination of…

High-dimensional sparse data present computational and statistical challenges for supervised learning. We propose compact linear sketches for reducing the dimensionality of the input, followed by a single layer neural network. We show that…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

We propose a theoretical framework for studying behavior cloning of complex expert demonstrations using generative modeling. Our framework invokes low-level controllers - either learned or implicit in position-command control - to stabilize…

Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero-sum game where the goal is to synthesize a winning…

Learning algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different…

Sketching is a dimensionality reduction technique where one compresses a matrix by linear combinations that are chosen at random. A line of work has shown how to sketch the Hessian to speed up each iteration in a second order method, but…

While deep learning approaches to information extraction have had many successes, they can be difficult to augment or maintain as needs shift. Rule-based methods, on the other hand, can be more easily modified. However, crafting rules…

We present a differentiable framework capable of learning a wide variety of compositions of simple policies that we call skills. By recursively composing skills with themselves, we can create hierarchies that display complex behavior. Skill…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

As synthetic imagery is used more frequently in training deep models, it is important to understand how different synthesis techniques impact the performance of such models. In this work, we perform a thorough evaluation of the…

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…

We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics satisfy a control-theoretic property called exponential stability (i.e. the effects…