相关论文: SAFE-GIL: SAFEty Guided Imitation Learning for Rob…

Imitation Learning has provided a promising approach to learning complex robot behaviors from expert demonstrations. However, learned policies can make errors that lead to safety violations, which limits their deployment in safety-critical…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid…

Behavior Cloning (BC) is a popular framework for training sequential decision policies from expert demonstrations via supervised learning. As these policies are increasingly being deployed in the real world, their robustness and potential…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been collected. Existing offline-to-online learning methods…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…