A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
This paper proposes a method to learn from expert trajectories by decomposing tasks into sub-goals.
problem Learning complex goal-oriented tasks with sparse rewards and limited samples.
method The approach uses expert trajectories to decompose tasks into sub-goals, learning an extrinsic reward function and modulating sub-goal predictions.
result The method alleviates errors in imitation learning and solves complex tasks that other methods cannot.
The paper provides theoretical guarantees for behavior cloning using generative models.
problem Behavior cloning of complex expert demonstrations using generative models.
method The paper proposes a theoretical framework invoking low-level controllers to stabilize imitation around expert demonstrations. It shows that with suitable low-level stability guarantees and powerful generative models, pure supervised behavior cloning can match expert trajectories.
result The paper proves that with a suitable low-level stability guarantee and a powerful enough generative model, pure supervised behavior cloning can generate trajectories matching the per-time step distribution of essentially arbitrary expert trajectories in an optimal transport cost.
Reinforcement learning methods require careful design involving a reward function to obtain the desired action policy for a given task. In the absence of hand-crafted reward functions, prior work on the topic has proposed several methods for reward estimation by using expert state trajectories and action pairs. However…
The goal of task transfer in reinforcement learning is migrating the action policy of an agent to the target task from the source task. Given their successes on robotic action planning, current methods mostly rely on two requirements: exactly-relevant expert demonstrations or the explicitly-coded cost function on targe…
We consider the problem of imitation learning from a finite set of expert trajectories, without access to reinforcement signals. The classical approach of extracting the expert's reward function via inverse reinforcement learning, followed by reinforcement learning is indirect and may be computationally expensive. Rece…
The problem of continuous inverse optimal control (over finite time horizon) is to learn the unknown cost function over the sequence of continuous control variables from expert demonstrations. In this article, we study this fundamental problem in the framework of energy-based model, where the observed expert trajectori…
Advances in the field of inverse reinforcement learning (IRL) have led to sophisticated inference frameworks that relax the original modeling assumption of observing an agent behavior that reflects only a single intention. Instead of learning a global behavioral model, recent IRL methods divide the demonstration data i…
Measuring similarities between unlabeled time series trajectories is an important problem in domains as diverse as medicine, astronomy, finance, and computer vision. It is often unclear what is the appropriate metric to use because of the complex nature of noise in the trajectories (e.g. different sampling rates or out…
In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in some cases. In this paper, we consider active imitation learning with the goal of…
Language creates a compact representation of the world and allows the description of unlimited situations and objectives through compositionality. While these characterizations may foster instructing, conditioning or structuring interactive agent behavior, it remains an open-problem to correctly relate language underst…
Reinforcement learning with sparse rewards is challenging because an agent can rarely obtain non-zero rewards and hence, gradient-based optimization of parameterized policies can be incremental and slow. Recent work demonstrated that using a memory buffer of previous successful trajectories can result in more effective…
We consider the problem of learning to behave optimally in a Markov Decision Process when a reward function is not specified, but instead we have access to a set of demonstrators of varying performance. We assume the demonstrators are classified into one of k ranks, and use ideas from ordinal regression to find a rewar…
In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of a desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the use of unsafe actions, increase the diversity of trajectories to enable exploratio…
New findings explain why online methods outperform offline methods in noisy expert feedback settings.
problem The challenge of learning from imperfect expert feedback in sequential decision-making systems.
method Introduced a noisy expert model and a novel variant of on-policy distillation (OPD) to address the gap between offline and online imitation learning.
result Online interaction with a noisy expert via OPD enables polynomial dependence on the horizon, unlike offline methods which require exponential growth in sample complexity.
Novel framework learns policies from noisy expert demonstrations.
problem Learning effective policies with noisy expert demonstrations.
method Adaptive learning framework that jointly interacts with the environment and expert demonstrations, assigning weights to filter out noisy demonstrations.
result The proposed approach learns robustly with noisy demonstrations and achieves higher performance in fewer iterations.
This study compares 6 imitation learning algorithms using a common dataset and hyperparameter budget.
problem Difficulty in comparing different imitation learning algorithms due to varying datasets, base RL algorithms, and evaluation settings.
method Reimplemented and updated 6 different imitation learning algorithms, using a common off-policy algorithm (SAC) and a widely-used dataset (D4RL). Evaluated on a range of expert trajectories.
result GAIL consistently performs well across different sample sizes, while AdRIL performs well with one important hyperparameter to tune and behavioral cloning remains a strong baseline when data is plentiful.
BALLAST optimizes Lagrangian observer placement for ocean vector fields.
problem Optimizing Lagrangian observer placement for time-dependent ocean vector fields.
method Bayesian active learning with look-ahead amendment for sea-drifter trajectories using a physics-informed spatio-temporal Gaussian process surrogate model.
result Noticeable benefits of BALLAST-aided observer placement strategies on synthetic and high-fidelity ocean models.