相关论文: Diverse Imitation Learning via Self-Organizing Gen…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

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…

Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative models. Although the problem has been studied for years under names such as…

This paper presents our solution for the Real Robot Challenge (RRC) III, a competition featured in the NeurIPS 2022 Competition Track, aimed at addressing dexterous robotic manipulation tasks through learning from pre-collected offline…

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…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

We consider imitation learning problems where the learner's ability to mimic the expert increases throughout the course of an episode as more information is revealed. One example of this is when the expert has access to privileged…

Diffusion-based imitation learning improves Behavioral Cloning (BC) on multi-modal decision-making, but comes at the cost of significantly slower inference due to the recursion in the diffusion process. It urges us to design efficient…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Integration of reinforcement learning and imitation learning is an important problem that has been studied for a long time in the field of intelligent robotics. Reinforcement learning optimizes policies to maximize the cumulative reward,…

Learning how to model complex scenes in a modular way with recombinable components is a pre-requisite for higher-order reasoning and acting in the physical world. However, current generative models lack the ability to capture the inherently…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…

Action advising is a peer-to-peer knowledge exchange technique built on the teacher-student paradigm to alleviate the sample inefficiency problem in deep reinforcement learning. Recently proposed student-initiated approaches have obtained…

Generative adversarial imitation learning (GAIL) is a popular inverse reinforcement learning approach for jointly optimizing policy and reward from expert trajectories. A primary question about GAIL is whether applying a certain policy…

Consider an imitation learning problem that the imitator and the expert have different dynamics models. Most of the current imitation learning methods fail because they focus on imitating actions. We propose a novel state alignment-based…

Behavioral cloning is a simple yet effective technique for learning sequential decision-making from demonstrations. Recently, it has gained prominence as the core of foundation models for the physical world, where achieving generalization…

In few-shot imitation learning (FSIL), using behavioral cloning (BC) to solve unseen tasks with few expert demonstrations becomes a popular research direction. The following capabilities are essential in robotics applications: (1) Behaving…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…