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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2411.08232 |
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| _version_ | 1866929589245181952 |
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| author | Wang, Renzi Acerbo, Flavia Sofia Son, Tong Duy Patrinos, Panagiotis |
| author_facet | Wang, Renzi Acerbo, Flavia Sofia Son, Tong Duy Patrinos, Panagiotis |
| contents | This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By leveraging the existing dynamics knowledge, the first stage of the framework estimates the control input sequences and hence reduces the problem complexity. At the second stage, the policy is learned by solving a regularized maximum-likelihood estimation problem using the estimated control input sequences. We further extend the learning procedure by incorporating a Lyapunov stability constraint to ensure asymptotic stability of the identified model, for accurate multi-step predictions. The effectiveness of the proposed framework is validated using two autonomous driving datasets collected from human demonstrations, demonstrating its practical applicability in modelling complex nonlinear dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_08232 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Imitation Learning from Observations: An Autoregressive Mixture of Experts Approach Wang, Renzi Acerbo, Flavia Sofia Son, Tong Duy Patrinos, Panagiotis Machine Learning Optimization and Control This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By leveraging the existing dynamics knowledge, the first stage of the framework estimates the control input sequences and hence reduces the problem complexity. At the second stage, the policy is learned by solving a regularized maximum-likelihood estimation problem using the estimated control input sequences. We further extend the learning procedure by incorporating a Lyapunov stability constraint to ensure asymptotic stability of the identified model, for accurate multi-step predictions. The effectiveness of the proposed framework is validated using two autonomous driving datasets collected from human demonstrations, demonstrating its practical applicability in modelling complex nonlinear dynamics. |
| title | Imitation Learning from Observations: An Autoregressive Mixture of Experts Approach |
| topic | Machine Learning Optimization and Control |
| url | https://arxiv.org/abs/2411.08232 |