Imitation-Guided Multimodal Policy Generation from Behaviourally Diverse Demonstrations
Shibei Zhu,Rituraj Kaushik,Samuel Kaski,Ville Kyrki,Shibei Zhu,Rituraj Kaushik,Samuel Kaski,Ville Kyrki
Learning policies from multiple demonstrators is often difficult because different individuals perform the same task differently due to hidden factors such as preferences. In the context of policy learning, this leads to multimodal policies. Existing policy learning methods often converge to a single solution mode, failing to capture the diversity in the solution space. In this paper, we introduce...
