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arXiv · 2101.01251

Robust Maximum Entropy Behavior Cloning

Mostafa Hussein·Brendan Crowe·Marek Petrik·Momotaz Begum
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Abstract

Imitation learning (IL) algorithms use expert demonstrations to learn a specific task. Most of the existing approaches assume that all expert demonstrations are reliable and trustworthy, but what if there exist some adversarial demonstrations among the given data-set? This may result in poor decision-making performance. We propose a novel general frame-work to directly generate a policy from demonstrations that autonomously detect the adversarial demonstrations and exclude them from the data set. At the same time, it's sample, time-efficient, and does not require a simulator. To model such adversarial demonstration we propose a min-max problem that leverages the entropy of the model to assign weights for each demonstration. This allows us to learn the behavior using only the correct demonstrations or a mixture of correct demonstrations.

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Mostafa Hussein, Brendan Crowe, Marek Petrik, Momotaz Begum. 2021-01-04. Robust Maximum Entropy Behavior Cloning. https://arxiv.org/abs/2101.01251

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