相关论文: Imitation Learning from Observation through Optima…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

State-of-the-art imitation learning from observation methods (ILfO) have recently made significant progress, but they still have some limitations: they need action-based supervised optimisation, assume that states have a single optimal…

Imitation Learning from Observation (IfO) offers a powerful way to learn behaviors at large-scale: Unlike behavior cloning or offline reinforcement learning, IfO can leverage action-free demonstrations and thus circumvents the need for…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

Learning from Observations (LfO) is a practical reinforcement learning scenario from which many applications can benefit through the reuse of incomplete resources. Compared to conventional imitation learning (IL), LfO is more challenging…

Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both…

Learning from observation (LfO) aims to imitate experts by learning from state-only demonstrations without requiring action labels. Existing adversarial imitation learning approaches learn a generator agent policy to produce state…

Imitation from observation (IfO) is a learning paradigm that consists of training autonomous agents in a Markov Decision Process (MDP) by observing expert demonstrations without access to its actions. These demonstrations could be sequences…

This paper studies Learning from Observations (LfO) for imitation learning with access to state-only demonstrations. In contrast to Learning from Demonstration (LfD) that involves both action and state supervision, LfO is more practical in…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Offline Reinforcement Learning (RL) addresses the problem of sequential decision-making by learning optimal policy through pre-collected data, without interacting with the environment. As yet, it has remained somewhat impractical, because…

We present an algorithm for Inverse Reinforcement Learning (IRL) from expert state observations only. Our approach decouples reward modelling from policy learning, unlike state-of-the-art adversarial methods which require updating the…

We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…

We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this setting the expert only supplies sequences of observations.…

Imitation learning from observation (LfO) is more preferable than imitation learning from demonstration (LfD) due to the nonnecessity of expert actions when reconstructing the expert policy from the expert data. However, previous studies…

Imitation Learning (IL) methods seek to match the behavior of an agent with that of an expert. In the present work, we propose a new IL method based on a conceptually simple algorithm: Primal Wasserstein Imitation Learning (PWIL), which…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

In imitation learning from observation IfO, a learning agent seeks to imitate a demonstrating agent using only observations of the demonstrated behavior without access to the control signals generated by the demonstrator. Recent methods…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…