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

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Supervised imitation learning, also known as behavioral cloning, suffers from distribution drift leading to failures during policy execution. One approach to mitigate this issue is to allow an expert to correct the agent's actions during…

Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both…

We tackle the problem of policy learning from expert demonstrations without a reward function. A central challenge in this space is that these policies fail upon deployment due to issues of distributional shift, environment stochasticity,…

Scenarios requiring humans to choose from multiple seemingly optimal actions are commonplace, however standard imitation learning often fails to capture this behavior. Instead, an over-reliance on replicating expert actions induces…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

A common strategy in modern learning systems is to learn a representation that is useful for many tasks, a.k.a. representation learning. We study this strategy in the imitation learning setting for Markov decision processes (MDPs) where…

Imitation learning is often used in addition to reinforcement learning in environments where reward design is difficult or where the reward is sparse, but it is difficult to be able to imitate well in unknown states from a small amount of…

Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…

We consider a problem of learning the reward and policy from expert examples under unknown dynamics. Our proposed method builds on the framework of generative adversarial networks and introduces the empowerment-regularized maximum-entropy…

Imitation learning (IL) is a paradigm for learning sequential decision making policies from experts, leveraging offline demonstrations, interactive annotations, or both. Recent advances show that when annotation cost is tallied per…

Imitation learning demonstrates remarkable performance in various domains. However, imitation learning is also constrained by many prerequisites. The research community has done intensive research to alleviate these constraints, such as…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

A common way of learning to perform a task is to observe how it is carried out by experts. However, it is well known that for most tasks there is no unique way to perform them. This is especially noticeable the more complex the task is…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Behavior Cloning (BC) is a widely adopted visual imitation learning method in robot manipulation. Current BC approaches often enhance generalization by leveraging large datasets and incorporating additional visual and textual modalities to…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

Reinforcement learning faces significant challenges when applied to tasks characterized by sparse reward structures. Although imitation learning, within the domain of supervised learning, offers faster convergence, it relies heavily on…