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

Imitation from observation (IfO) is a learning paradigm that consists of training autonomous agents in a Markov Decision Process (MDP) by observing expert demonstrations without access to its actions. These demonstrations could be sequences…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

This paper studies Imitation Learning from Observations alone (ILFO) where the learner is presented with expert demonstrations that consist only of states visited by an expert (without access to actions taken by the expert). We present a…

Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…

Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function…

In this paper, we study the problem of obtaining a control policy that can mimic and then outperform expert demonstrations in Markov decision processes where the reward function is unknown to the learning agent. One main relevant approach…

In this paper, we focus on single-demonstration imitation learning (IL), a practical approach for real-world applications where acquiring multiple expert demonstrations is costly or infeasible and the ground truth reward function is not…

Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the emergence of multi-modal data distributions, thereby…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

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…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

Reinforcement Learning (RL) has demonstrated remarkable success in solving sequential decision-making problems. However, in real-world scenarios, RL agents often struggle to generalize when faced with unseen actions that were not…

Training a policy in a source domain for deployment in the target domain under a dynamics shift can be challenging, often resulting in performance degradation. Previous work tackles this challenge by training on the source domain with…

When the agent's observations or interactions are delayed, classic reinforcement learning tools usually fail. In this paper, we propose a simple yet new and efficient solution to this problem. We assume that, in the undelayed environment,…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

We develop a simple framework to learn bio-inspired foraging policies using human data. We conduct an experiment where humans are virtually immersed in an open field foraging environment and are trained to collect the highest amount of…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…