相关论文: A Dual Approach to Imitation Learning from Observa…

Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations…

We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

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…

In reinforcement learning (RL), sparse rewards can present a significant challenge. Fortunately, expert actions can be utilized to overcome this issue. However, acquiring explicit expert actions can be costly, and expert observations are…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

Imitation by observation is an approach for learning from expert demonstrations that lack action information, such as videos. Recent approaches to this problem can be placed into two broad categories: training dynamics models that aim to…

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

Offline reinforcement learning agents face significant deployment challenges due to the synthetic-to-real distribution mismatch. While most prior research has focused on improving the fidelity of synthetic sampling and incorporating…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

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…

Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…

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…

Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift arising due to the small amount of expert data, recent works…

Imitation learning from observation (LfO) is more preferable than imitation learning from demonstration (LfD) due to the nonnecessity of expert actions when reconstructing the expert policy from the expert data. However, previous studies…

We focus on the problem of imitation learning from visual observations, where the learning agent has access to videos of experts as its sole learning source. The challenges of this framework include the absence of expert actions and the…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use…

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…