相关论文: SD2AIL: Adversarial Imitation Learning from Synthe…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…

Imitation learning (IL) aims to learn a policy from expert demonstrations and has been applied to various applications. By learning from the expert policy, IL methods do not require environmental interactions or reward signals. However,…

Adversarial imitation learning (AIL) has stood out as a dominant framework across various imitation learning (IL) applications, with Discriminator Actor Critic (DAC) (Kostrikov et al.,, 2019) demonstrating the effectiveness of off-policy…

We introduce Adversarial Diffusion Distillation (ADD), a novel training approach that efficiently samples large-scale foundational image diffusion models in just 1-4 steps while maintaining high image quality. We use score distillation to…

Generative Adversarial Imitation Learning (GAIL) is a powerful and practical approach for learning sequential decision-making policies. Different from Reinforcement Learning (RL), GAIL takes advantage of demonstration data by experts (e.g.,…

Inverse Reinforcement Learning (IRL) learns an optimal policy, given some expert demonstrations, thus avoiding the need for the tedious process of specifying a suitable reward function. However, current methods are constrained by at least…

Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requires effective exploration during an online reinforcement…

Aligning diffusion models with human preferences remains challenging, particularly when reward models are unavailable or impractical to obtain, and collecting large-scale preference datasets is prohibitively expensive. \textit{This raises a…

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…

Many modern methods for imitation learning and inverse reinforcement learning, such as GAIL or AIRL, are based on an adversarial formulation. These methods apply GANs to match the expert's distribution over states and actions with the…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the…

Often times in imitation learning (IL), the environment we collect expert demonstrations in and the environment we want to deploy our learned policy in aren't exactly the same (e.g. demonstrations collected in simulation but deployment in…

Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…

Class Incremental Learning (CIL) is challenging due to catastrophic forgetting. On top of that, Exemplar-free Class Incremental Learning is even more challenging due to forbidden access to previous task data. Recent exemplar-free CIL…

Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…