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Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

Imitation Learning (IL) is a popular paradigm for training agents to achieve complicated goals by leveraging expert behavior, rather than dealing with the hardships of designing a correct reward function. With the environment modeled as a…

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…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by…

Imitation of expert behaviour is a highly desirable and safe approach to the problem of sequential decision making. We provide an easy-to-implement, novel algorithm for imitation learning under a strict data paradigm, in which the agent…

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,…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

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…

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…

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…

We focus on offline imitation learning (IL), which aims to mimic an expert's behavior using demonstrations without any interaction with the environment. One of the main challenges in offline IL is the limited support of expert…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

This paper studies offline Imitation Learning (IL) where an agent learns to imitate an expert demonstrator without additional online environment interactions. Instead, the learner is presented with a static offline dataset of…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Existing imitation learning works mainly assume that the demonstrator who collects demonstrations shares the same dynamics as the imitator. However, the assumption limits the usage of imitation learning, especially when collecting…

Offline imitation learning (IL) promises the ability to learn performant policies from pre-collected demonstrations without interactions with the environment. However, imitating behaviors fully offline typically requires numerous 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…