相关论文: SPRINQL: Sub-optimal Demonstrations driven Offline…

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requires effective exploration during an online reinforcement…

Inverse Reinforcement Learning (IRL) techniques deal with the problem of deducing a reward function that explains the behavior of an expert agent who is assumed to act optimally in an underlying unknown task. In several problems of…

This article studies inverse reinforcement learning (IRL) for the stochastic linear-quadratic optimal control problem, where two agents are considered. A learner agent does not know the expert agent's performance cost function, but it…

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.…

Inverse reinforcement learning (IRL), which infers reward functions from demonstrations, is a valuable tool for modeling and understanding decision-making behavior. Many variants of IRL have been developed to capture complexities of human…

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…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

Imitation learning attracts much attention for its ability to allow robots to quickly learn human manipulation skills through demonstrations. However, in the real world, human demonstrations often exhibit random behavior that is not…

In aims to uncover insights into medical decision-making embedded within observational data from clinical settings, we present a novel application of Inverse Reinforcement Learning (IRL) that identifies suboptimal clinician actions based on…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…

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…

We propose State Matching Offline DIstribution Correction Estimation (SMODICE), a novel and versatile regression-based offline imitation learning (IL) algorithm derived via state-occupancy matching. We show that the SMODICE objective admits…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…

Robot control for tactile feedback-based manipulation can be difficult due to the modeling of physical contacts, partial observability of the environment, and noise in perception and control. This work focuses on solving partial…