Impact of Continuous Latent Variables on Imitation Learning Efficiency and Stability

Abstract

Abstract: Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous reinforcement learning (RL) approaches typically require many interactions with the system to learn controllers, which is a practical limitation in real systems, such as robots, where many interactions can be impractical and time consuming. To address this problem, current learning approaches typically require task-specific knowledge in form of expert demonstrations, re

Research Question

What is the impact of replacing discrete action tokens with continuous latent variables on the sample efficiency and convergence stability of imitation learning policies trained on noisy, unlabeled video demonstrations?

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Public corrections are additive records. Current status does not claim the synthesis is error-free.

Provenance