相关论文: Reliable Conditioning of Behavioral Cloning for Of…

Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial…

The ability to discover optimal behaviour from fixed data sets has the potential to transfer the successes of reinforcement learning (RL) to domains where data collection is acutely problematic. In this offline setting, a key challenge is…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

Policy constraint methods in offline reinforcement learning employ additional regularization techniques to constrain the discrepancy between the learned policy and the offline dataset. However, these methods tend to result in overly…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been collected. Existing offline-to-online learning methods…

We introduce an offline reinforcement learning (RL) algorithm that explicitly clones a behavior policy to constrain value learning. In offline RL, it is often important to prevent a policy from selecting unobserved actions, since the…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…

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…

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Although Behavioral Cloning (BC) in theory suffers compounding errors, its scalability and simplicity still makes it an attractive imitation learning algorithm. In contrast, imitation approaches with adversarial training typically does not…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…

Offline reinforcement learning has received extensive attention from scholars because it avoids the interaction between the agent and the environment by learning a policy through a static dataset. However, general reinforcement learning…

Behavioural cloning (BC) is a commonly used imitation learning method to infer a sequential decision-making policy from expert demonstrations. However, when the quality of the data is not optimal, the resulting behavioural policy also…

We consider an offline reinforcement learning (RL) setting where the agent need to learn from a dataset collected by rolling out multiple behavior policies. There are two challenges for this setting: 1) The optimal trade-off between…

Behavioral cloning (BC) can recover a good policy from abundant expert data, but may fail when expert data is insufficient. This paper considers a situation where, besides the small amount of expert data, a supplementary dataset is…