Robust Behavior Cloning with Adversarial Demonstration Detection
Mostafa Hussein,Brendan Crowe,Madison Clark-Turner,Paul Gesel,Marek Petrik,Momotaz Begum,Mostafa Hussein,Brendan Crowe,Madison Clark-Turner,Paul Gesel,Marek Petrik,Momotaz Begum
Imitation learning (IL) frameworks in robotics typically assume that a domain expert's demonstration always contains a correct way of doing the task. Despite its theoretical convenience, this assumption has limited practical values for an IL-powered robot in real world. There are many reasons for an expert in the real world to provide demonstrations that may contain incorrect or potentially unsafe...
