相关论文: Expert Proximity as Surrogate Rewards for Single D…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Imitation Learning (IL) is a popular paradigm for training agents to achieve complicated goals by leveraging expert behavior, rather than dealing with the hardships of designing a correct reward function. With the environment modeled as a…

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…

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…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Imitation learning aims to solve the problem of defining reward functions in real-world decision-making tasks. The current popular approach is the Adversarial Imitation Learning (AIL) framework, which matches expert state-action occupancy…

Recovering reward function from expert demonstrations is a fundamental problem in reinforcement learning. The recovered reward function captures the motivation of the expert. Agents can imitate experts by following these reward functions in…

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…

Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…

Demonstrations are commonly used to speed up the learning process of Deep Reinforcement Learning algorithms. To cope with the difficulty of accessing multiple demonstrations, some algorithms have been developed to learn from a single…

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,…

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…

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…

In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…

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…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

The goal of imitation learning (IL) is to learn a good policy from high-quality demonstrations. However, the quality of demonstrations in reality can be diverse, since it is easier and cheaper to collect demonstrations from a mix of experts…

The application of reinforcement learning (RL) in robotic control is still limited in the environments with sparse and delayed rewards. In this paper, we propose a practical self-imitation learning method named Self-Imitation Learning with…

We focus on offline imitation learning (IL), which aims to mimic an expert's behavior using demonstrations without any interaction with the environment. One of the main challenges in offline IL is the limited support of expert…

While combining imitation learning (IL) and reinforcement learning (RL) is a promising way to address poor sample efficiency in autonomous behavior acquisition, methods that do so typically assume that the requisite behavior demonstrations…