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

Adversarial imitation learning has become a popular framework for imitation in continuous control. Over the years, several variations of its components were proposed to enhance the performance of the learned policies as well as the sample…

Automating end-to-end Exploratory Data Analysis (AutoEDA) is a challenging open problem, often tackled through Reinforcement Learning (RL) by learning to predict a sequence of analysis operations (FILTER, GROUP, etc). Defining rewards for…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

Diffusion Probabilistic Models (DPMs) have emerged as a powerful class of deep generative models, achieving remarkable performance in image synthesis tasks. However, these models face challenges in terms of widespread adoption due to their…

We introduce D2AC, a new model-free reinforcement learning (RL) algorithm designed to train expressive diffusion policies online effectively. At its core is a policy improvement objective that avoids the high variance of typical policy…

Reinforcement learning (RL) has achieved tremendous success as a general framework for learning how to make decisions. However, this success relies on the interactive hand-tuning of a reward function by RL experts. On the other hand,…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

Visual imitation learning enables reinforcement learning agents to learn to behave from expert visual demonstrations such as videos or image sequences, without explicit, well-defined rewards. Previous research either adopted supervised…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

This paper presents a novel satellite attitude control framework that integrates Soft Actor-Critic (SAC) reinforcement learning with Generative Adversarial Imitation Learning (GAIL) to achieve robust performance under various unknown…

Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

Recovering reward function from expert demonstrations is a fundamental problem in reinforcement learning. The recovered reward function captures the motivation of the expert. Agents can imitate experts by following these reward functions in…

Adversarial imitation learning (AIL) achieves high-quality imitation by mitigating compounding errors in behavioral cloning (BC), but often exhibits training instability due to adversarial optimization. To avoid this issue, a class of…

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…

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…

Inverse Reinforcement Learning (IRL) is a powerful set of techniques for imitation learning that aims to learn a reward function that rationalizes expert demonstrations. Unfortunately, traditional IRL methods suffer from a computational…

The malicious use and widespread dissemination of deepfake pose a significant crisis of trust. Current deepfake detection models can generally recognize forgery images by training on a large dataset. However, the accuracy of detection…

Acquiring physically plausible motor skills across diverse and unconventional morphologies-including humanoid robots, quadrupeds, and animals-is essential for advancing character simulation and robotics. Traditional methods, such as…

Generative Adversarial Imitation Learning (GAIL) trains a generative policy to mimic a demonstrator. It uses on-policy Reinforcement Learning (RL) to optimize a reward signal derived from a GAN-like discriminator. A major drawback of GAIL…