相关论文: Imitation from Observation With Bootstrapped Contr…

The growing use of virtual autonomous agents in applications like games and entertainment demands better control policies for natural-looking movements and actions. Unlike the conventional approach of hard-coding motion routines, we propose…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

We introduce Correspondence-Oriented Imitation Learning (COIL), a conditional policy learning framework for visuomotor control with a flexible task representation in 3D. At the core of our approach, each task is defined by the intended…

We consider the problem of learning from observation (LfO), in which the agent aims to mimic the expert's behavior from the state-only demonstrations by experts. We additionally assume that the agent cannot interact with the environment but…

The goal of contrastive learning based pre-training is to leverage large quantities of unlabeled data to produce a model that can be readily adapted downstream. Current approaches revolve around solving an image discrimination task: given…

The problem of Learning from Demonstration is targeted at learning to perform tasks based on observed examples. One approach to Learning from Demonstration is Inverse Reinforcement Learning, in which actions are observed to infer rewards.…

We study offline meta-reinforcement learning, a practical reinforcement learning paradigm that learns from offline data to adapt to new tasks. The distribution of offline data is determined jointly by the behavior policy and the task.…

Imitation learning is an approach in which an agent learns how to execute a task by trying to mimic how one or more teachers perform it. This learning approach offers a compromise between the time it takes to learn a new task and the effort…

Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…

Learning from visual observation (LfVO), aiming at recovering policies from only visual observation data, is promising yet a challenging problem. Existing LfVO approaches either only adopt inefficient online learning schemes or require…

Inverse Reinforcement Learning addresses the problem of inferring an expert's reward function from demonstrations. However, in many applications, we not only have access to the expert's near-optimal behavior, but we also observe part of her…

In offline imitation learning (IL), an agent aims to learn an optimal expert behavior policy without additional online environment interactions. However, in many real-world scenarios, such as robotics manipulation, the offline dataset is…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…

Some imitation learning methods combine behavioural cloning with self-supervision to infer actions from state pairs. However, most rely on a large number of expert trajectories to increase generalisation and human intervention to capture…

While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…

Imitation learning (IL) enables agents to mimic expert behavior without reward signals but faces challenges in cross-domain scenarios with high-dimensional, noisy, and incomplete visual observations. To address this, we propose…

Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…

Reinforcement Learning aims at identifying and evaluating efficient control policies from data. In many real-world applications, the learner is not allowed to experiment and cannot gather data in an online manner (this is the case when…

Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…

This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By…