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Control policies from imitation learning can often fail to generalize to novel environments due to imperfect demonstrations or the inability of imitation learning algorithms to accurately infer the expert's policies.
Natural gradient works efficiently in learning
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(not) bounding the true error
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The ycb object and model set: Towards common benchmarks for manipulation research
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G. K. Dziugaite and D. M. Roy · 2017
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A PAC-Bayesian approach to spectrally-normalized margin bounds for neural networks
B. Neyshabur, S. Bhojanapalli, D. McAllester, and N. Srebro · 2017
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Simultaneous policy learning and latent state inference for imitating driver behavior
Chauffeurnet: Learning to drive by imitating the best and synthesizing the worst
M. Bansal, A. Krizhevsky, and A. Ogale · 2018
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End-to-end driving via conditional imitation learning
F. Codevilla, M. Miiller, A. López, V. Koltun, and A. Dosovitskiy · 2018
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Vision-based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration
R. Rahmatizadeh, P. Abolghasemi, L. Bölöni, and S. Levine · 2018
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Reinforcement learning from imperfect demonstrations
Y. Gao, H. Xu, J. Lin, F. Yu, S. Levine, and T. Darrell · 2018
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PAC-Bayes Control: synthesizing controllers that provably generalize to novel environments
A. Majumdar and M. Goldstein · 2018
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J. Morton and M. J. Kochenderfer · 2017
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Multi-modal imitation learning from unstructured demonstrations using generative adversarial nets
K. Hausman, Y. Chebotar, S. Schaal, G. Sukhatme, and J. J. Lim · 2017
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Robust imitation of diverse behaviors
Z. Wang, J. S. Merel, S. E. Reed, N. de Freitas, G. Wayne, and N. Heess · 2017
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Dart: Noise injection for robust imitation learning
M. Laskey, J. Lee, R. Fox, A. Dragan, and K. Goldberg · 2017
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Evolution strategies as a scalable alternative to reinforcement learning
T. Salimans, J. Ho, X. Chen, S. Sidor, and I. Sutskever · 2017
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An algorithmic perspective on imitation learning
T. Osa, J. Pajarinen, G. Neumann, J. A. Bagnell, P. Abbeel, and J. Peters · 2018
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Stronger generalization bounds for deep nets via a compression approach
S. Arora, R. Ge, B. Neyshabur, and Y. Zhang · 2018
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Self-supervised correspondence in visuomotor policy learning
P. Florence, L. Manuelli, and R. Tedrake · 2019
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Learning a multi-modal policy via imitating demonstrations with mixed behaviors
F.-I. Hsiao, J.-H. Kuo, and M. Sun · 2019
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
A. Gupta, V. Kumar, C. Lynch, S. Levine, and K. Hausman · 2019
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PAC-Bayes Control: Learning policies that provably generalize to novel environments
A. Majumdar, A. Farid, and A. Sonar · 2019
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2019
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Learning to generalize across long-horizon tasks from human demonstrations
A. Mandlekar, D. Xu, R. Martín-Martín, S. Savarese, and L. Fei-Fei · 2020
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Probably approximately correct vision-based planning using motion primitives
S. Veer and A. Majumdar · 2020
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Interactive gibson benchmark: A benchmark for interactive navigation in cluttered environments
F. Xia, W. B. Shen, C. Li, P. Kasimbeg, M. E. Tchapmi, A. Toshev, R. Martín-Martín, and S. Savarese · 2020
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