相关论文: DiffAIL: Diffusion Adversarial Imitation Learning

Adversarial attacks exploiting unrestricted natural perturbations present severe security risks to deep learning systems, yet their transferability across models remains limited due to distribution mismatches between generated adversarial…

Imitation learning learns a policy from demonstrations without requiring hand-designed reward functions. In many robotic tasks, such as autonomous racing, imitated policies must model complex environment dynamics and human decision-making.…

World models have recently attracted growing interest in Multi-Agent Reinforcement Learning (MARL) due to their ability to improve sample efficiency for policy learning. However, accurately modeling environments in MARL is challenging due…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…

We introduce Adversarial Diffusion Distillation (ADD), a novel training approach that efficiently samples large-scale foundational image diffusion models in just 1-4 steps while maintaining high image quality. We use score distillation 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…

Domain incremental learning (DIL) poses a significant challenge in real-world scenarios, as models need to be sequentially trained on diverse domains over time, all the while avoiding catastrophic forgetting. Mitigating representation…

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…

Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…

Diffusion-based imitation learning improves Behavioral Cloning (BC) on multi-modal decision-making, but comes at the cost of significantly slower inference due to the recursion in the diffusion process. It urges us to design efficient…

We identify two issues with the family of algorithms based on the Adversarial Imitation Learning framework. The first problem is implicit bias present in the reward functions used in these algorithms. While these biases might work well for…

Decision-focused learning (DFL) integrates predictive modeling and optimization by training predictors to optimize the downstream decision target rather than merely minimizing prediction error. To date, existing DFL methods typically rely…

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…

In inverse reinforcement learning (IRL), an agent seeks to replicate expert demonstrations through interactions with the environment. Traditionally, IRL is treated as an adversarial game, where an adversary searches over reward models, and…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behaviors from expert demonstrations. However, existing IL methods…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…