相关论文: ABC: Adversarial Behavioral Cloning for Offline Mo…

Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…

Agents that interact with other agents often do not know a priori what the other agents' strategies are, but have to maximise their own online return while interacting with and learning about others. The optimal adaptive behaviour under…

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…

Recent work has shown that reinforcement learning agents can develop policies that exploit spurious correlations between rewards and observations. This phenomenon, known as policy confounding, arises because the agent's policy influences…

Behavioral cloning becomes difficult when the same observation admits several valid actions. We study this problem for action-chunking policies and show that different multimodal parameterizations fail in different ways. For latent-variable…

Providing expert trajectories in the context of Imitation Learning is often expensive and time-consuming. The goal must therefore be to create algorithms which require as little expert data as possible. In this paper we present an algorithm…

Our aim is to build autonomous agents that can solve tasks in environments like Minecraft. To do so, we used an imitation learning-based approach. We formulate our control problem as a search problem over a dataset of experts'…

Applying imitation learning (IL) is challenging to nonprehensile manipulation tasks of invisible objects with partial observations, such as excavating buried rocks. The demonstrator must make such complex action decisions as exploring to…

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

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 algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different…

The cooperation among AI systems, and between AI systems and humans is becoming increasingly important. In various real-world tasks, an agent needs to cooperate with unknown partner agent types. This requires the agent to assess the…

Behavioural cloning, where a computer is taught to perform a task based on demonstrations, has been successfully applied to various video games and robotics tasks, with and without reinforcement learning. This also includes end-to-end…

Offline reinforcement learning (RL) struggles in environments with rich and noisy inputs, where the agent only has access to a fixed dataset without environment interactions. Past works have proposed common workarounds based on the…

Offline imitation learning typically learns from expert and unlabeled demonstrations, yet often overlooks the valuable signal in explicitly undesirable behaviors. In this work, we study offline imitation learning from contrasting behaviors,…

In this paper, we propose a framework, collective behavioral cloning (CBC), to learn the underlying interaction mechanism and control policy of a swarm system. Given the trajectory data of a swarm system, we propose a graph variational…

Model-based offline reinforcement learning (RL), which builds a supervised transition model with logging dataset to avoid costly interactions with the online environment, has been a promising approach for offline policy optimization. As the…

Adapting an agent's behaviour to new environments has been one of the primary focus areas of physics based reinforcement learning. Although recent approaches such as universal policy networks partially address this issue by enabling the…

Modelling the behaviours of other agents is essential for understanding how agents interact and making effective decisions. Existing methods for agent modelling commonly assume knowledge of the local observations and chosen actions of the…