相关论文: Latent Policies for Adversarial Imitation Learning

Recently, an abundant amount of urban vehicle trajectory data has been collected in road networks. Many studies have used machine learning algorithms to analyze patterns in vehicle trajectories to predict location sequences of individual…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

We explore methodologies to improve the robustness of generative adversarial imitation learning (GAIL) algorithms to observation noise. Towards this objective, we study the effect of local Lipschitzness of the discriminator and the…

Adversarial Imitation Learning alternates between learning a discriminator -- which tells apart expert's demonstrations from generated ones -- and a generator's policy to produce trajectories that can fool this discriminator. This…

Realistic traffic simulation is critical for the development of autonomous driving systems and urban mobility planning, yet existing imitation learning approaches often fail to model realistic traffic behaviors. Behavior cloning suffers…

We present an approach for mobile robots to learn to navigate in dynamic environments with pedestrians via raw depth inputs, in a socially compliant manner. To achieve this, we adopt a generative adversarial imitation learning (GAIL)…

Approaches based on generative adversarial networks for imitation learning are promising because they are sample efficient in terms of expert demonstrations. However, training a generator requires many interactions with the actual…

The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations (LfD) approaches…

Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…

Training Generative Adversarial Networks (GANs) remains a challenging problem. The discriminator trains the generator by learning the distribution of real/generated data. However, the distribution of generated data changes throughout 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…

Recovering reward function from expert demonstrations is a fundamental problem in reinforcement learning. The recovered reward function captures the motivation of the expert. Agents can imitate experts by following these reward functions in…

Adversarial imitation learning has become a widely used imitation learning framework. The discriminator is often trained by taking expert demonstrations and policy trajectories as examples respectively from two categories (positive vs.…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…

Often times in imitation learning (IL), the environment we collect expert demonstrations in and the environment we want to deploy our learned policy in aren't exactly the same (e.g. demonstrations collected in simulation but deployment in…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…