SAFE-GIL: SAFEty Guided Imitation Learning

arXiv:2404.05249v1 Announce Type: cross
Abstract: Behavior Cloning is a popular approach to Imitation Learning, in which a robot observes an expert supervisor and learns a control policy. However, behavior cloning suffers from the "compounding error" problem - the policy errors compound as it deviates from the expert demonstrations and might lead to catastrophic system failures, limiting its use in safety-critical applications. On-policy data aggregation methods are able to address this issue at the cost of rolling out and repeated training …

abstract arxiv behavior cloning control cs.lg cs.ro cs.sy eess.sy error errors expert gil however imitation learning policy popular robot safe safety type