相关论文: How to Leverage Diverse Demonstrations in Offline …

There has been significant recent progress in the area of unsupervised skill discovery, utilizing various information-theoretic objectives as measures of diversity. Despite these advances, challenges remain: current methods require…

The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…

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…

Offline reinforcement learning (RL) has attracted much attention due to its ability in learning from static offline datasets and eliminating the need of interacting with the environment. Nevertheless, the success of offline RL relies…

Many reinforcement learning algorithms, particularly those that rely on return estimates for policy improvement, can suffer from poor sample efficiency and training instability due to high-variance return estimates. In this paper we…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

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…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

Imitation learning (IL) aims to mimic the behavior of an expert policy in a sequential decision-making problem given only demonstrations. In this paper, we focus on understanding the minimax statistical limits of IL in episodic Markov…

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…

A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic demonstrations on a robotic manipulator requires the teacher to…

Demonstrations are an effective alternative to task specification for learning agents in settings where designing a reward function is difficult. However, demonstrating expert behavior in the action space of the agent becomes unwieldy when…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

Offline reinforcement learning (RL) looks at learning how to optimally solve tasks using a fixed dataset of interactions from the environment. Many off-policy algorithms developed for online learning struggle in the offline setting as they…

Imitation learning practitioners have often noted that conditioning policies on previous actions leads to a dramatic divergence between "held out" error and performance of the learner in situ. Interactive approaches can provably address…

In recent years, significant progress has been made in multi-objective reinforcement learning (RL) research, which aims to balance multiple objectives by incorporating preferences for each objective. In most existing studies, specific…

Imitation learning has proven to be useful for many real-world problems, but approaches such as behavioral cloning suffer from data mismatch and compounding error issues. One attempt to address these limitations is the DAgger algorithm,…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…