相关论文: Offline Imitation Learning with Variational Counte…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

In offline Imitation Learning (IL), one of the main challenges is the \textit{covariate shift} between the expert observations and the actual distribution encountered by the agent, because it is difficult to determine what action an agent…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

One of the key challenges of Reinforcement Learning (RL) is the ability of agents to generalise their learned policy to unseen settings. Moreover, training RL agents requires large numbers of interactions with the environment. Motivated by…

Offline Imitation Learning (IL) with imperfect demonstrations has garnered increasing attention owing to the scarcity of expert data in many real-world domains. A fundamental problem in this scenario is how to extract positive behaviors…

In offline imitation learning (IL), we generally assume only a handful of expert trajectories and a supplementary offline dataset from suboptimal behaviors to learn the expert policy. While it is now common to minimize the divergence…

This paper studies offline Imitation Learning (IL) where an agent learns to imitate an expert demonstrator without additional online environment interactions. Instead, the learner is presented with a static offline dataset of…

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…

Offline reinforcement learning (RL) tasks require the agent to learn from a pre-collected dataset with no further interactions with the environment. Despite the potential to surpass the behavioral policies, RL-based methods are generally…

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,…

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…

The training of autonomous agents often requires expensive and unsafe trial-and-error interactions with the environment. Nowadays several data sets containing recorded experiences of intelligent agents performing various tasks, spanning…

Online imitation learning (IL) is an algorithmic framework that leverages interactions with expert policies for efficient policy optimization. Here policies are optimized by performing online learning on a sequence of loss functions that…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…

Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducing a pre-training stage that learns dynamics representations,…

Standard imitation learning can fail when the expert demonstrators have different sensory inputs than the imitating agent. This is because partial observability gives rise to hidden confounders in the causal graph. In previous work, to work…

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…

Offline imitation learning (IL) promises the ability to learn performant policies from pre-collected demonstrations without interactions with the environment. However, imitating behaviors fully offline typically requires numerous expert…

Offline reinforcement learning (offline RL) considers problems where learning is performed using only previously collected samples and is helpful for the settings in which collecting new data is costly or risky. In model-based offline RL,…