Adaptive t-Momentum-based Optimization for Unknown Ratio of Outliers in Amateur Data in Imitation Learning
Wendyam Eric Lionel Ilboudo,Taisuke Kobayashi,Kenji Sugimoto,Wendyam Eric Lionel Ilboudo,Taisuke Kobayashi,Kenji Sugimoto
Behavioral cloning (BC) bears a high potential for safe and direct transfer of human skills to robots. However, demonstrations performed by human operators often contain noise or imperfect behaviors that can affect the efficiency of the imitator if left unchecked. In order to allow the imitators to effectively learn from imperfect demonstrations, we propose to employ the robust t-momentum optimiza...
