While recent state-of-the-art results for adversarial imitation-learning algorithms are encouraging, recent works exploring the imitation learning from observation (ILO) setting, where trajectories\\textit {only} contain expert observations, have not been met with the same success. Inspired by recent investigations of\u00a0-divergence manipulation for the standard imitation learning setting (Ke et al., 2019; Ghasemipour et al., 2019), we here examine the extent to which variations in the choice of probabilistic divergence may yield more performant ILO algorithms. We unfortunately find that\u00a0-divergence minimization through reinforcement learning is susceptible to numerical instabilities. We contribute a reparameterization trick for adversarial imitation learning to alleviate the optimization challenges of the promising\u00a0-divergence minimization framework. Empirically, we demonstrate that our design choices allow for ILO algorithms that outperform baseline approaches and more closely match expert performance in low-dimensional continuous-control tasks.<\/p>\n","protected":false},"excerpt":{"rendered":"
While recent state-of-the-art results for adversarial imitation-learning algorithms are encouraging, recent works exploring the imitation learning from observation (ILO) setting, where trajectories\\textit {only} contain expert observations, have not been met with the same success. Inspired by recent investigations of\u00a0-divergence manipulation for the standard imitation learning setting (Ke et al., 2019; Ghasemipour et al., 2019), we […]<\/p>\n","protected":false},"featured_media":0,"template":"","meta":{"msr-url-field":"","msr-podcast-episode":"","msrModifiedDate":"","msrModifiedDateEnabled":false,"ep_exclude_from_search":false,"_classifai_error":"","msr-author-ordering":[{"type":"text","value":"Dilip Arumugam","user_id":0},{"type":"user_nicename","value":"Debadeepta Dey","user_id":"31594"},{"type":"user_nicename","value":"Alekh Agarwal","user_id":"30928"},{"type":"user_nicename","value":"Asli Celikyilmaz","user_id":"31123"},{"type":"user_nicename","value":"Elnaz Nouri","user_id":"39336"},{"type":"user_nicename","value":"Bill 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