State-only imitation learning improves dexterous manipulation learning from videos.
problem High sample complexity in complex domains like dexterous manipulation.
method Train an inverse dynamics model to predict actions from states and train the policy jointly.
result Performs on par with state-action approaches and outperforms RL alone.
New state-only IL algorithm tackles MDP transition mismatch.
problem Transition dynamics mismatch between expert and imitator MDPs.
method Adversarial state-only IL with two subproblems solved iteratively.
result Effective performance improvement in transition dynamics mismatch scenarios.
Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume that the agent has access to a sparse reward function and state-only expert observa…
Survey of methods for learning from observation without requiring expert actions.
problem Lack of access to expert actions in imitation learning.
method Survey and classification of state-only imitation learning (SOIL) methods.
result Identification of open problems and future research directions.
Imitation from observation is the framework of learning tasks by observing demonstrated state-only trajectories. Recently, adversarial approaches have achieved significant performance improvements over other methods for imitating complex behaviors. However, these adversarial imitation algorithms often require many demo…
Imitation from observation (IfO) is the problem of learning directly from state-only demonstrations without having access to the demonstrator's actions. The lack of action information both distinguishes IfO from most of the literature in imitation learning, and also sets it apart as a method that may enable agents to l…
CFIL uses coupled flows to model state distributions for imitation learning.
problem Lack of explicit modeling of state distributions in reinforcement and imitation learning.
method Coupled normalizing flows for state and state-action distributions.
result CFIL achieves state-of-the-art performance on benchmark tasks.
Paper improves imitation learning from observations by minimizing inverse dynamics disagreement.
problem Challenges in Learning from Observations (LfO) due to incomplete expert guidance.
method IDDM method that minimizes the disagreement between inverse dynamics models of the imitator and expert.
result Empirical results show consistent improvements over other LfO methods.
Generative model for hypergraphs captures complex interactions without pairwise reductions.
problem Challenges in generating realistic hypergraphs with pairwise reductions.
method Structured stochastic diffusion on relaxed incidence matrices.
result Generative model preserves structure-aware noising and yields explicit Gaussian law.
New method aligns states for better imitation learning.
problem Different dynamics models between imitator and expert.
method State alignment-based reinforcement learning.
result Superior performance on various imitation learning settings.
ADVISOR dynamically balances imitation and reinforcement learning to overcome the imitation gap.
problem The gap between imitation learning and reinforcement learning when teaching agents have privileged information.
method Adaptive Insubordination (ADVISOR) dynamically weights imitation and reward-based reinforcement learning losses.
result On-the-fly switching with ADVISOR outperforms pure imitation, pure reinforcement learning, and their combinations.
Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and laborious, which poses a significant challenge in some scenarios. A promising altern…
Reinforcement learning mimics expert behavior.
problem Learning from expert demonstrations in reinforcement learning.
method Reduction to reinforcement learning with a stationary reward.
result Expert reward can be recovered and imitation learning is bounded.
Guarantees for third-person imitation learning from offline data.
problem Improving generalizability in imitation learning.
method Problem-dependent statistical learning guarantees for third-person imitation from offline observation.
result Strong performance guarantees for transferred policies in the offline setting.
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.
GWIL uses Gromov-Wasserstein distance to align expert and imitation agent states.
problem Cross-domain imitation learning challenges due to different system dimensions and stationary distributions.
method Gromov-Wasserstein Imitation Learning (GWIL) using Gromov-Wasserstein distance.
result GWIL effectively aligns expert and imitation agent states in various continuous control domains.
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.
Study optimal investment under imitation of decision-changing rates.
problem Optimal investment under imitation of decision-changing rates.
method Proposed integral disparity to quantify imitation, derived general solution using variational method, analyzed asymptotic properties, validated with real data.
result Investor's optimal decisions under imitation of decision-changing rates.
Proof shows imitation of expert's reward and solutions in multi-objective optimization.
problem Multi-objective optimization with reward and solution imitation.
method Wasserstein inverse reinforcement learning.
result Wasserstein inverse reinforcement learning enables imitation of expert's reward and solutions in multi-objective optimization.
Researchers improved Minecraft game performance using imitation learning.
problem Achieving state-of-the-art performance in immersive environments like Minecraft.
method Applied imitation learning to Minecraft, optimizing network architecture, loss function, and data augmentation.
result Reported stronger results than previous experiments, reaching second place in a competition.
Paper tackles robust imitation learning from noisy demonstrations.
problem Learning from noisy demonstrations is challenging.
method Optimizes a classification risk with a symmetric loss, combining pseudo-labeling and co-training.
result Our method is more robust than state-of-the-art methods.
Paper uses Sinkhorn distances to improve imitation learning effectiveness.
problem Improving imitation learning algorithms by comparing occupancy measures.
method Formulates imitation learning as Sinkhorn distance minimization, combining optimal transport and cosine distances.
result Proposes a new critic network and transport plan that guide imitation learning.
New method uses bi-level optimization to learn useful representations for imitation learning.
problem Learning useful representations for multiple tasks in imitation learning settings.
method Formulates representation learning as a bi-level optimization problem.
result Bi-level optimization framework provides sample complexity benefits for imitation learning.
New self-imitation learning method improves performance in continuous control tasks.
problem Improving off-policy learning in continuous control tasks.
method Proposes a n-step lower bound to generalize lower-bound Q-learning and introduces a new family of self-imitation learning algorithms.
result n-step lower bound Q-learning achieves a better trade-off between bias and contraction rate, leading to improved performance.
NDI learns from expert demonstrations by estimating occupancy measures.
problem Imitation Learning (IL) for complex systems.
method Density estimation of expert's occupancy measure followed by RL.
result NDI achieves state-of-the-art performance on control tasks.
The paper analyzes the value discrepancies of imitation learning methods.
problem Analyzing the value discrepancies of imitation learning methods.
method Discrepancy propagation analysis for infinite-horizon settings.
result GAIL has less compounding errors than behavioral cloning.
New method improves imitation learning from expert observations.
problem Challenges in imitation learning from observation setting.
method Reparameterized Variational Divergence Minimization.
result Our method outperforms baseline approaches in low-dimensional tasks.
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.
We study risk-sensitive imitation learning where the agent's goal is to perform at least as well as the expert in terms of a risk profile. We first formulate our risk-sensitive imitation learning setting. We consider the generative adversarial approach to imitation learning (GAIL) and derive an optimization problem for…
A new algorithm trains experts to safely guide agents in partially observed environments.
problem Existing imitation learning methods for POMDPs can lead to sub-optimal or unsafe policies.
method Derive an objective to encourage the expert to maximize the agent's reward, then use it to train both expert and agent.
result The algorithm produces an expert policy that the agent can safely imitate, outperforming fixed expert policies.
Proposes a method to imitate active learning heuristics for better performance.
problem The performance of active learning heuristics depends on the classifier model and data structure.
method Imitates the selection of the best active learning heuristic using DAGGER.
result Outperforms state-of-the-art imitation learners and heuristics on well-known datasets.
Unified framework for imitating tasks across domains with discrepancies.
problem Learning tasks across domains with embodiment, viewpoint, and dynamics mismatches.
method Two-step approach: alignment followed by adaptation. Alignment uses Generative Adversarial MDP Alignment (GAMA) for state and action correspondences from unpaired, unaligned demonstrations. Adaptation leverages these correspondences for zero-shot imitation.
result Effectiveness of the proposed approach in embodiment, viewpoint, and dynamics mismatch scenarios.
Integration of reinforcement learning and imitation learning is an important problem that has been studied for a long time in the field of intelligent robotics. Reinforcement learning optimizes policies to maximize the cumulative reward, whereas imitation learning attempts to extract general knowledge about the traject…
Paper improves AIRL by enhancing policy imitation and addressing reward recovery issues.
problem Inadequate policy imitation and limited transferable reward recovery in AIRL.
method Substituted built-in algorithm with SAC for policy updating and proposed PPO-AIRL + SAC hybrid framework.
result SAC improves policy imitation but hinders reward recovery; PPO-AIRL + SAC achieves satisfactory transfer effect.
Relational Mimic improves visual imitation learning from video demonstrations.
problem Improving robustness and sample efficiency in visual imitation learning.
method Combines generative adversarial networks and relational learning.
result Improves agent performance in challenging locomotion tasks.
Transforms random forests into efficient neural networks using imitation learning.
problem Inefficient architectures of existing methods for transforming random forests into neural networks.
method Generates training data from a random forest and learns a neural network to imitate its behavior.
result Implicit transformation creates efficient neural networks with better generalization.
A new method removes policy optimization in adversarial imitation learning.
problem Adversarial imitation learning's delicate alternated optimization.
method Explicitly condition discriminator on two policies, solving generator's optimization problem directly.
result Simpler approach competitive to prevalent methods.
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 …
Recent work has demonstrated that problems-- particularly imitation learning and structured prediction-- where a learner's predictions influence the input-distribution it is tested on can be naturally addressed by an interactive approach and analyzed using no-regret online learning. These approaches to imitation learni…
The performance of imitation learning is typically upper-bounded by the performance of the demonstrator. While recent empirical results demonstrate that ranked demonstrations allow for better-than-demonstrator performance, preferences over demonstrations may be difficult to obtain, and little is known theoretically abo…
New method uses variational inference to handle confounding in imitation learning.
problem Confounding due to different sensory inputs between expert and imitating agent.
method Train variational inference model to infer expert's latent information and use for latent-conditional policy training.
result Algorithm converges to correct interventional policy and achieves asymptotically optimal performance.
Recent work on imitation learning has generated policies that reproduce expert behavior from multi-modal data. However, past approaches have focused only on recreating a small number of distinct, expert maneuvers, or have relied on supervised learning techniques that produce unstable policies. This work extends InfoGAI…
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.
Dual-structured method improves cross-domain imitation learning.
problem Learning policies in a target domain from source domain expert demonstrations.
method Extracts domain and policy expertness features, synthesizes new features.
result Superior performance compared to other algorithms in MuJoCo tasks.
SAIL improves AIL by weighting adversarial rewards with support estimation.
problem Training instability and reward bias in AIL.
method Support-weighted Adversarial Imitation Learning (SAIL) extends AIL with support estimation to improve reinforcement signals.
result SAIL achieves better performance and stability on benchmark tasks.
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.
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.
Imitation learning algorithms can be used to learn a policy from expert demonstrations without access to a reward signal. However, most existing approaches are not applicable in multi-agent settings due to the existence of multiple (Nash) equilibria and non-stationary environments. We propose a new framework for multi-…