相关论文: Causal Imitation Learning Under Measurement Error …

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

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) 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 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…

We propose a general framework for causal Imitation Learning (IL) with hidden confounders, which subsumes several existing settings. Our framework accounts for two types of hidden confounders: (a) variables observed by the expert but not by…

Imitation learning from demonstrations usually suffers from the confounding effects of unmeasured variables (i.e., unmeasured confounders) on the states and actions. If ignoring them, a biased estimation of the policy would be entailed. To…

Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…

We develop algorithms for imitation learning from policy data that was corrupted by temporally correlated noise in expert actions. When noise affects multiple timesteps of recorded data, it can manifest as spurious correlations between…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

In supervised learning, the question of data quality and curation has been over-shadowed in recent years by increasingly more powerful and expressive models that can ingest internet-scale data. However, in offline learning for robotics, we…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Offline reinforcement learning (RL) tasks require the agent to learn from a pre-collected dataset with no further interactions with the environment. Despite the potential to surpass the behavioral policies, RL-based methods are generally…

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…

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…

In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

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…

One of the common ways children learn is by mimicking adults. Imitation learning focuses on learning policies with suitable performance from demonstrations generated by an expert, with an unspecified performance measure, and unobserved…

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) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, IL is sensitive to compounding errors induced by distribution…