CCIL: 連続性に基づくデータ拡張による修正模倣学習
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
専門家データから局所連続性を利用した動力学モデルを構築し、修正ラベルを生成して模倣学習のロバスト性を高める手法を提案。
著者: Liyiming Ke, Yunchu Zhang, Abhay Deshpande, Siddhartha Srinivasa, Abhishek Gupta
分類: cs.RO
原文アブストラクト
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing methods rely on interactive expert labeling, additional offline datasets, or domain-specific invariances, our approach requires minimal additional assumptions beyond access to expert data. The key insight is to leverage local continuity in the environment dynamics to generate corrective labels. Our method first constructs a dynamics model from the expert demonstration, encouraging local Lipschitz continuity in the learned model. In locally continuous regions, this model allows us to generate corrective labels within the neighborhood of the demonstrations but beyond the actual set of states and actions in the dataset. Training on this augmented data enhances the agent's ability to recover from perturbations and deal with compounding errors. We demonstrate the effectiveness of our generated labels through experiments in a variety of robotics domains in simulation that have distinct forms of continuity and discontinuity, including classic control problems, drone flying, navigation with high-dimensional sensor observations, legged locomotion, and tabletop manipulation.
