Option-Aware Adversarial Inverse Reinforcement Learning for Robotic Control
Jiayu Chen,Tian Lan,Vaneet Aggarwal,Jiayu Chen,Tian Lan,Vaneet Aggarwal
Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the causal relationship between the subtask and its corresponding policy or cannot learn the policy in an end-to-end fashion, which leads to suboptimality. In this work...
