相关论文: Visual Imitation Learning with Patch Rewards

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…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

Self-supervised visual representation learning traditionally focuses on image-level instance discrimination. Our study introduces an innovative, fine-grained dimension by integrating patch-level discrimination into these methodologies. This…

As the field of deep learning steadily transitions from the realm of academic research to practical application, the significance of self-supervised pretraining methods has become increasingly prominent. These methods, particularly in the…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

We consider the problem of imitation learning from a finite set of expert trajectories, without access to reinforcement signals. The classical approach of extracting the expert's reward function via inverse reinforcement learning, followed…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Reward function specification, which requires considerable human effort and iteration, remains a major impediment for learning behaviors through deep reinforcement learning. In contrast, providing visual demonstrations of desired behaviors…

Patch-level image representation is very important for object classification and detection, since it is robust to spatial transformation, scale variation, and cluttered background. Many existing methods usually require fine-grained…

We focus on the problem of imitation learning from visual observations, where the learning agent has access to videos of experts as its sole learning source. The challenges of this framework include the absence of expert actions and the…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

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…

Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…

Imitation learning aims to learn a policy from observing expert demonstrations without access to reward signals from environments. Generative adversarial imitation learning (GAIL) formulates imitation learning as adversarial learning,…

Deep reinforcement learning achieves superhuman performance in a range of video game environments, but requires that a designer manually specify a reward function. It is often easier to provide demonstrations of a target behavior than to…

Bayesian inference over the reward presents an ideal solution to the ill-posed nature of the inverse reinforcement learning problem. Unfortunately current methods generally do not scale well beyond the small tabular setting due to the need…

Adversarial learning has shown its advances in generating natural and diverse descriptions in image captioning. However, the learned reward of existing adversarial methods is vague and ill-defined due to the reward ambiguity problem. In…

Imitation learning algorithms learn a policy from demonstrations of expert behavior. We show that, for deterministic experts, imitation learning can be done by reduction to reinforcement learning with a stationary reward. Our theoretical…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…