New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
Robot learns to imitate human interactions through deep learning.
problem Teaching robots to coordinate actions with human partners.
method Deep learning framework for motion embedding, prediction, and trajectory generation.
result Importance of predictive and adaptive components for successful imitation.
New algorithm reduces sample complexity for imitation learning.
problem High sample complexity limits deployment of adversarial imitation algorithms.
method Trajectory-centric reinforcement learning ideas.
result Improved learning rate and efficiency in imitation tasks.
Robots learn new tasks autonomously with minimal human intervention.
problem Lack of scalable data collection for robot learning.
method Multi-task imitation learning with autonomous data collection and one-shot generalization.
result Robots can continuously improve through autonomous data collection without reinforcement learning.
TRAIL improves robot imitation learning by focusing on task-relevant features.
problem Discriminator networks learn spurious associations, providing poor reward signals.
method Constrained discriminator optimization to learn task-relevant rewards.
result TRAIL outperforms GAIL and behaviour cloning in robotic manipulation tasks.
GPRIL learns efficient policies from few expert demonstrations.
problem Sample-efficient imitation learning for robots.
method Generative predecessor models to match expert demonstrations.
result GPRIL achieves higher sample efficiency on real robots.
Efficiently uses imitation, adaptation, and simulation to improve robot learning.
problem Improving efficiency in data collection and curation for autonomous systems.
method Utilizes imitation learning, domain adaptation, and transfer from simulation.
result Increased efficiency in data-driven approaches for robot learning.
A new approach for learning from expert demonstrations using multiple perspectives.
problem Learning from expert demonstrations with limited information from different perspectives.
method Generative adversarial network-based active learning approach.
result Our approach effectively learns from expert demonstrations and highlights the importance of architectural choices.
Game aims to improve social interactions for teenagers with ASD.
problem Improving social interactions for teenagers with ASD.
method Presentation of game structure, skeleton detection, and imitation learning methods.
result Game structure and support tools for skeleton detection and imitation learning presented.
New framework integrates imitation and reinforcement learning for better robot performance.
problem Combining reinforcement and imitation learning for intelligent robotics.
method Extends probabilistic generative model framework for reinforcement learning and develops pMDP-MO for Markov decision processes.
result Significantly better performance than reinforcement or imitation learning alone.
This paper surveys imitation learning methods and challenges.
problem Difficulty in programming AI systems in complex environments.
method Learning from expert demonstrations to adapt behaviors.
result Overview of recent advances and emerging areas in IL.
A new method uses optimal transport for imitation learning, improving efficiency and performance.
problem Recovering expert policies from demonstrations with efficient and general reward functions.
method Proposes Wasserstein Adversarial Imitation Learning, using Kantorovich potentials as reward functions and regularized optimal transport.
result Significantly improves sample-efficiency and average cumulative rewards in robotic experiments.
Game teaches ASD teenagers to imitate gestures.
problem Improving social interactions of ASD teenagers.
method Adapted robot-based imitation game with machine learning for pose detection.
result Preliminary results show game can elicit expected responses.
Method solves long-horizon robotic tasks via imitation and reinforcement learning.
problem Long-horizon robotic tasks with complex sequences of actions.
method Two-phase approach: imitation learning followed by reinforcement learning.
result Method can scale to challenging long-horizon tasks.
Paper introduces a novel reward function for noisy financial markets using imitation learning.
problem Noisy reward function in financial markets hinders RL agent performance.
method Integrates imitation learning feedback with reinforcement learning to improve reward function design.
result Improves financial performance metrics compared to traditional benchmarks and RL agents.
Proposes a framework for learning constrained motor skills.
problem Learning constrained motor skills in robotic systems.
method Exploits probabilistic properties of multiple demonstrations in a linearly constrained optimization problem.
result Proposes a non-parametric solution for constrained motor skills.
New method simplifies and improves imitation learning without adversarial techniques.
problem Stable optimization and convergence issues in adversarial imitation learning methods.
method Proposes a non-adversarial framework for imitation learning, providing stronger convergence guarantees.
result Shows AIRL as a special case and derives new algorithms for offline imitation learning.
Action chunking and data exploration improve behavior cloning in robotics.
problem Exponential errors in learning from demonstrations for continuous control tasks.
method Action chunking and exploratory data collection.
result Control-theoretic stability is key to improving imitation learning.
Algorithm improves imitation learning from visual data in partially observable environments.
problem Imitation learning from visual observations with missing expert actions and partial observability.
method Theoretical analysis and Latent Adversarial Imitation from Observations algorithm combining adversarial and latent representations.
result Latent Adversarial Imitation from Observations achieves state-of-the-art performance in high-dimensional robotic tasks.
SPReD uses uncertainty to decide imitation from demonstrations.
problem Learning from sparse rewards with few demonstrations.
method Ensemble methods to model Q-value distributions, probabilistic and advantage-based uncertainty quantification.
result Significant gains in reinforcement learning across multiple tasks.
D-REX learns reward functions from ranked demonstrations to beat the demonstrator's performance.
problem Limited performance of imitation learning compared to the demonstrator.
method Disturbance-based Reward Extrapolation (D-REX) that generates ranked demonstrations from behavioral cloning.
result D-REX significantly outperforms standard imitation learning approaches and beats the demonstrator's performance.
Algorithm corrects mistakes in imitation learning tasks.
problem Covariate shift problem in learning from demonstrations.
method Value Iteration with Negative Sampling (VINS) for conservative extrapolation.
result VINS corrects mistakes of the behavioral cloning policy.
Hierarchical decoupling improves sample efficiency for complex robots.
problem Learning long-range behaviors on complex robots.
method Two-part policy: low-level imitation and high-level transfer, with KL regularization.
result Hierarchical transfer significantly improves zero-shot high-level transfer and stabilizes learning.
Current imitation learning techniques are too restrictive because they require the agent and expert to share the same action space. However, oftentimes agents that act differently from the expert can solve the task just as good. For example, a person lifting a box can be imitated by a ceiling mounted robot or a desktop…
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
problem Challenges in applying imitation learning to bimanual robotic tasks.
method Integrates physical robot structure into action prediction using a dynamic spatial-temporal graph and differentiable kinematics.
result Effective generation of kinematics-aware actions in both simulation and real-world environments.
RIDM combines imitation and RL with a single demo, no action info needed.
problem Learning from a single observed demonstration without action information.
method Reinforced Inverse Dynamics Modeling (RIDM) that operates on raw state features.
result RIDM performs favorably compared to baseline on simulated and real tasks.
NDPs embed dynamical systems into neural networks for efficient sensorimotor learning.
problem Training policies directly in raw action spaces limits scalability for continuous tasks.
method Embed dynamical systems into neural networks to learn robot behaviors via demonstrations.
result NDPs outperform prior methods in both imitation and reinforcement learning setups.
Robot learns multiple tasks hierarchically by transferring knowledge.
problem Learning multiple complex tasks in open-ended environments.
method Task-oriented procedures, goal-babbling, imitation learning, active learning, intrinsic motivation.
result Robots can learn complex tasks more efficiently by transferring knowledge from simpler ones.
Algorithm improves sample efficiency for dynamic task adaptation.
problem Sample inefficiency in imitation learning for changing task distributions.
method Assigns importance weights to past demonstrations for meta adaptation.
result Robot adapts to unseen environments with few demonstrations.
Method learns multi-stage tasks from single video, overcoming challenges of raw pixel learning and insufficient demonstrations.
problem Learning multi-stage vision-based tasks from a single video of a human performing the task.
method Learn primitive behaviors from video demonstrations and dynamically compose them to perform multi-stage tasks.
result Demonstrated learning of various tasks on real robots using raw pixel inputs and minimal demonstrations.
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity in the environment. The robot processes LiDAR scans via the trained network to n…
New approach mitigates feedback divergence in imitation learning.
problem Divergence between held-out error and learner performance in imitation learning.
method Identifies covariate shift as the root cause and proposes a simulator-based solution.
result Naive behavioral cloning performs well in real-world decision making problems.
Robots learn state representation from demonstrations.
problem Robots need a compact state representation for efficient interaction.
method Imitation learning using a multi-head neural network.
result Trained representation improves performance and efficiency in reinforcement learning.
Curriculum learning and imitation learning improve control over financial time-series data.
problem Improving control performance over complex financial time-series data.
method Data augmentation for curriculum learning and policy distillation for imitation learning.
result Curriculum learning shows significant improvement over time-series control tasks.
The current dominant paradigm for imitation learning relies on strong supervision of expert actions to learn both 'what' and 'how' to imitate. We pursue an alternative paradigm wherein an agent first explores the world without any expert supervision and then distills its experience into a goal-conditioned skill policy …
Paper proposes a sequential statistical test for comparing imitation learning policies with near-optimal stopping.
problem Challenges in rigorously comparing imitation learning policies due to small sample sizes and potential p-hacking.
method Sequential statistical test that adapts the number of trials based on intermediate results, achieving near-optimal stopping.
result Reduces the number of evaluation trials by up to 32% compared to state-of-the-art baselines, saving significant time and effort.
Continuous control imitation learning fails if expert actions are smooth.
problem Continuous control imitation learning fails if expert actions are smooth.
method Study of imitation learning in discrete-time, continuous state-and-action control systems.
result Any smooth, deterministic imitator policy suffers exponentially larger error than the expert.
Agent learns third-person manipulation tasks from a single video.
problem Learning from third-person videos to perform novel tasks.
method Decoupling high-level task generation from low-level action prediction.
result Agent successfully learns and performs tasks in unseen scenarios.
Diffusion models enhance robotic manipulation through probabilistic multi-modal learning.
problem Enhancing robotic manipulation through robust and multi-modal learning.
method Probabilistic diffusion models integrating imitation and reinforcement learning.
result Diffusion models improve grasp learning, trajectory planning, and data augmentation in robotics.
Triple-GAIL learns from multiple sources to improve imitation learning for complex behaviors.
problem Limited scalability of GAIL in real-world scenarios like autonomous vehicles.
method Integrates expert demonstrations and generated experiences with an auxiliary skill selector.
result Triple-GAIL outperforms state-of-the-art methods in learning complex behaviors.
We present an active learning architecture that allows a robot to actively learn which data collection strategy is most efficient for acquiring motor skills to achieve multiple outcomes, and generalise over its experience to achieve new outcomes. The robot explores its environment both via interactive learning and goal…
ORIL learns a reward function from unlabeled data to improve robot learning.
problem Leveraging unlabeled data for robot learning.
method ORIL learns a reward function from demonstrator and unlabeled trajectories, annotates data, and trains an agent via offline reinforcement learning.
result ORIL consistently outperforms BC agents on various robotic tasks.
Robot learns agile leg movements from simulations to real robots.
problem Training legged robots for dynamic maneuvers is challenging and expensive.
method Simulation-based reinforcement learning for real legged systems.
result ANYmal robot can follow high-level commands, run faster, and recover from falls.
DAC-SSM learns domain-agnostic states for better imitation learning.
problem Domain shifts hinder imitation learning in partially observable tasks.
method DAC-SSM uses adversarial training to remove domain-dependent information from states.
result DAC-SSM achieves comparable performance to experts in sparse reward tasks.
We explore the problem of learning to decompose spatial tasks into segments, as exemplified by the problem of a painting robot covering a large object. Inspired by the ability of classical decision tree algorithms to construct structured partitions of their input spaces, we formulate the problem of decomposing objects …
Paper addresses reward learning issues in RL, improving both under- and over-estimation.
problem Reward learning from data can lead to reward delusions or underestimation, causing unintended behaviors.
method Connects reward learning to positive-unlabeled (PU) learning and applies a large-scale PU learning algorithm.
result Improves both GAIL and supervised reward learning without additional assumptions.
New framework for learning policies that converge in out-of-sample regions.
problem Reliable out-of-sample recovery in imitation learning.
method Contractive dynamical systems and recurrent equilibrium networks.
result Policy rollouts converge regardless of perturbations, enabling efficient OOS recovery.
Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for continuous task variations, requiring more principled approaches to share and t…