相关论文: Latent Policies for Adversarial Imitation Learning

For flexible yet safe imitation learning (IL), we propose theory and a modular method, with a safety layer that enables a closed-form probability density/gradient of the safe generative continuous policy, end-to-end generative adversarial…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

Improving the reasoning capabilities of large language models (LLMs) typically relies either on the model's ability to sample a correct solution to be reinforced or on the existence of a stronger model able to solve the problem. However,…

We propose to improve unconditional Generative Adversarial Networks (GAN) by training the self-supervised learning with the adversarial process. In particular, we apply self-supervised learning via the geometric transformation on input…

Developing controllers for agile locomotion is a long-standing challenge for legged robots. Reinforcement learning (RL) and Evolution Strategy (ES) hold the promise of automating the design process of such controllers. However, dedicated…

Imitation learning in a high-dimensional environment is challenging. Most inverse reinforcement learning (IRL) methods fail to outperform the demonstrator in such a high-dimensional environment, e.g., Atari domain. To address this…

In learning from demonstrations, many generative models of trajectories make simplifying assumptions of independence. Correctness is sacrificed in the name of tractability and speed of the learning phase. The ignored dependencies, which…

Standard imitation learning can fail when the expert demonstrators have different sensory inputs than the imitating agent. This is because partial observability gives rise to hidden confounders in the causal graph. In previous work, to work…

Current deep domain adaptation methods used in computer vision have mainly focused on learning discriminative and domain-invariant features across different domains. In this paper, we present a novel "deep adversarial transition learning"…

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…

Generative Adversarial Imitation Learning (GAIL) stands as a cornerstone approach in imitation learning. This paper investigates the gradient explosion in two types of GAIL: GAIL with deterministic policy (DE-GAIL) and GAIL with stochastic…

Designing a safe and human-like decision-making system for an autonomous vehicle is a challenging task. Generative imitation learning is one possible approach for automating policy-building by leveraging both real-world and simulated…

Imitation learning trains a policy from expert demonstrations. Imitation learning approaches have been designed from various principles, such as behavioral cloning via supervised learning, apprenticeship learning via inverse reinforcement…

With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…

Training generative adversarial networks requires balancing of delicate adversarial dynamics. Even with careful tuning, training may diverge or end up in a bad equilibrium with dropped modes. In this work, we improve CS-GAN with natural…

Training agents that can coordinate zero-shot with humans is a key mission in multi-agent reinforcement learning (MARL). Current algorithms focus on training simulated human partner policies which are then used to train a Cooperator agent.…

Generative Adversarial Networks (GANs), as a framework for estimating generative models via an adversarial process, have attracted huge attention and have proven to be powerful in a variety of tasks. However, training GANs is well known for…