Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Jun 30, 2022
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System Overview
Featured Robotics Reinforcement Learning
Chenhao Li
Chenhao Li
Reinforcement Learning for Robotics

My research interests focus on the general field of robot learning, including reinforcement learning, developmental robotics and legged intelligence.

Publications

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
In this work, we propose a generative adversarial method for inferring reward functions from partial and potentially physically incompatible demonstrations for successful skill acquirement where reference or expert demonstrations are not easily accessible.
Chenhao Li, Marin Vlastelica, Sebastian Blaes, Jonas Frey, Felix Grimminger, Georg Martius
PDF Cite Code Project Poster Video Oral Best Paper Award Finalist
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Events

Developmental Legged Intelligence: from Imitation to Generation
Popular methods that enable robot learning from limited demonstrations.
Mar 5, 2024 4:00 PM AI4CE Lab, New York University
Project Project Project
Developmental Legged Intelligence: from Imitation to Generation
Learning from Limited Demonstrations: Lessons We have Learned
Popular methods that enable robot learning from limited demonstrations.
Nov 15, 2023 11:00 AM Learning & Adaptive Systems Group, ETH Zurich
Project Project Project
Learning from Limited Demonstrations: Lessons We have Learned
Reducing Human Efforts in Reinforcement Learning for Legged Skill Development
Works that propose possible solutions to reduce such human involvement, specifically with examples of legged skill development using model-free reinforcement learning and imitation learning methods.
Jan 12, 2023 4:00 PM Biomimetic Robotics Lab, Massachusetts Institute of Technology
Project Project Project
Reducing Human Efforts in Reinforcement Learning for Legged Skill Development
Reducing Human Efforts for Expert Acquisition in Imitation Learning
Methods that allow skill transfer from limited and noisy reference demonstrations.
Dec 2, 2022 5:00 PM Machines in Motion Laboratory, New York University
Project Project
Reducing Human Efforts for Expert Acquisition in Imitation Learning
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
A method for inferring imitation signals from poor expert demonstrations.
Aug 10, 2022 3:00 PM Robotic Systems Lab, ETH Zurich
Project
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations