相关论文: Exploring multimodal implicit behavior learning fo…

Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…

Imitation learning (IL) has shown promise in various applications (e.g. robot locomotion) but is often limited to learning a single expert policy, constraining behavior diversity and robustness in unpredictable real-world scenarios. To…

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

A crucial design decision for any robot learning pipeline is the choice of policy representation: what type of model should be used to generate the next set of robot actions? Owing to the inherent multi-modal nature of many robotic tasks,…

We present our findings in the gap between theory and practice of using conditional energy-based models (EBM) as an implicit representation for behavior-cloned policies. We also clarify several subtle, and potentially confusing, details in…

Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are non-causal: the training procedure is unaware of the causal…

Over the past two decades, there has been a growing interest in control systems research to transition from model-based methods to data-driven approaches. In this study, we aim to bridge a divide between conventional model-based control and…

We tackle a common scenario in imitation learning (IL), where agents try to recover the optimal policy from expert demonstrations without further access to the expert or environment reward signals. Except the simple Behavior Cloning (BC)…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

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…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Applying imitation learning (IL) is challenging to nonprehensile manipulation tasks of invisible objects with partial observations, such as excavating buried rocks. The demonstrator must make such complex action decisions as exploring to…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC suffers from an inherent generalization issue. To solve…