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

Offline reinforcement learning (RL) learns effective policies from pre-collected datasets, offering a practical solution for applications where online interactions are risky or costly. Model-based approaches are particularly advantageous…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…

Deploying safety-critical agents requires anticipating the consequences of actions before they are executed. While world models offer a paradigm for this proactive foresight, current approaches relying on visual simulation incur prohibitive…

We examine the problem of transferring a policy learned in a source environment to a target environment with different dynamics, particularly in the case where it is critical to reduce the amount of interaction with the target environment…

Modelling the behaviours of other agents is essential for understanding how agents interact and making effective decisions. Existing methods for agent modelling commonly assume knowledge of the local observations and chosen actions of the…

An option is a short-term skill consisting of a control policy for a specified region of the state space, and a termination condition recognizing leaving that region. In prior work, we proposed an algorithm called Deep Discovery of Options…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

Hierarchical Imitation Learning is a powerful paradigm for acquiring complex robot behaviors from demonstrations. A central challenge, however, lies in discovering reusable skills from long-horizon, multi-task offline data, especially when…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved…

Traditional user modeling (UM) approaches have primarily focused on designing models for a single specific task, but they face limitations in generalization and adaptability across various tasks. Recognizing these challenges, recent studies…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

In this paper, we study offline-to-online Imitation Learning (IL) that pretrains an imitation policy from static demonstration data, followed by fast finetuning with minimal environmental interaction. We find the na\"ive combination of…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

In offline imitation learning (IL), an agent aims to learn an optimal expert behavior policy without additional online environment interactions. However, in many real-world scenarios, such as robotics manipulation, the offline dataset is…

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…

Existing on-policy imitation learning algorithms, such as DAgger, assume access to a fixed supervisor. However, there are many settings where the supervisor may evolve during policy learning, such as a human performing a novel task or an…