Learning from Demonstrations

1 Learning from Demonstrations

This section covers approaches to learning control policies from expert demonstrations, including imitation learning and inverse reinforcement learning.

1.1 Imitation Learning

• DAgger A Reduction of Imitation Learning and Structured Predictionto No-Regret Online Learning, Ross S., Gordon G., Bagnell J. A. (2011).
• GAIL Generative Adversarial Imitation Learning, Ho J., Ermon S. (2016).
• DQfD Learning from Demonstrations for Real World Reinforcement Learning, Hester T. et al. (2017). 🎞️
• Branched End-to-end Driving via Conditional Imitation Learning, Codevilla F. et al. (2017). 🎞️
• DeepMimic DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills, Peng X. B. et al. (2018). 🎞️

1.1.1 Applications to Autonomous Driving

• ALVINN, an autonomous land vehicle in a neural network, Pomerleau D. (1989).
• End to End Learning for Self-Driving Cars, Bojarski M. et al. (2016). 🎞️
• Imitating Driver Behavior with Generative Adversarial Networks, Kuefler A. et al. (2017).
• PS-GAIL Multi-Agent Imitation Learning for Driving Simulation, Bhattacharyya R. et al. (2018). 🎞️ :octocat:

1.2 Inverse Reinforcement Learning

• Projection Apprenticeship learning via inverse reinforcement learning, Abbeel P., Ng A. (2004).
• MEIRL Maximum Entropy Inverse Reinforcement Learning, Ziebart B. et al. (2008).
• CIOC Continuous Inverse Optimal Control with Locally Optimal Examples, Levine S., Koltun V. (2012). 🎞️
• GCL Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization, Finn C. et al. (2016). 🎞️

1.2.1 Applications to Autonomous Driving

• Apprenticeship Learning for Motion Planning, with Application to Parking Lot Navigation, Abbeel P. et al. (2008).
• Navigate like a cabbie: Probabilistic reasoning from observed context-aware behavior, Ziebart B. et al. (2008).
• Learning Autonomous Driving Styles and Maneuvers from Expert Demonstration, Silver D. et al. (2012).
• Watch This: Scalable Cost-Function Learning for Path Planning in Urban Environments, Wulfmeier M. (2016). 🎞️