相关论文: A Dual Approach to Imitation Learning from Observa…
Learning options that allow agents to exhibit temporally higher order behavior has proven to be useful in increasing exploration, reducing sample complexity and for various transfer scenarios. Deep Discovery of Options (DDO) is a generative…
State-of-the-art imitation learning from observation methods (ILfO) have recently made significant progress, but they still have some limitations: they need action-based supervised optimisation, assume that states have a single optimal…
Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…
Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…
This paper studies Learning from Observations (LfO) for imitation learning with access to state-only demonstrations. In contrast to Learning from Demonstration (LfD) that involves both action and state supervision, LfO is more practical in…
In this paper, we consider domain-adaptive imitation learning with visual observation, where an agent in a target domain learns to perform a task by observing expert demonstrations in a source domain. Domain adaptive imitation learning…
Imitation Learning from observation describes policy learning in a similar way to human learning. An agent's policy is trained by observing an expert performing a task. While many state-only imitation learning approaches are based on…
Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…
In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…
Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…
Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording. We…
Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…
Imitating skills from low-quality datasets, such as sub-optimal demonstrations and observations with distractors, is common in real-world applications. In this work, we focus on the problem of Learning from Noisy Demonstrations (LND), where…
This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By…
Imitation learning seeks to circumvent the difficulty in designing proper reward functions for training agents by utilizing expert behavior. With environments modeled as Markov Decision Processes (MDP), most of the existing imitation…
Imitation learning is a primary approach to improve the efficiency of reinforcement learning by exploiting the expert demonstrations. However, in many real scenarios, obtaining expert demonstrations could be extremely expensive or even…
In this paper, we consider cross-domain imitation learning (CDIL) in which an agent in a target domain learns a policy to perform well in the target domain by observing expert demonstrations in a source domain without accessing any reward…
We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…
We consider the problem of learning from observation (LfO), in which the agent aims to mimic the expert's behavior from the state-only demonstrations by experts. We additionally assume that the agent cannot interact with the environment but…
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.…