BeTAIL: Behavior Transformer Adversarial Imitation Learning from Human Racing Gameplay

no code implementations • 22 Feb 2024 • Catherine Weaver, Chen Tang, Ce Hao, Kenta Kawamoto, Masayoshi Tomizuka, Wei Zhan

Thus, we propose BeTAIL: Behavior Transformer Adversarial Imitation Learning, which combines a Behavior Transformer (BeT) policy from human demonstrations with online AIL.

Imitation Learning

Active Exploration in Iterative Gaussian Process Regression for Uncertainty Modeling in Autonomous Racing

no code implementations • 3 Nov 2023 • Tommaso Benciolini, Chen Tang, Marion Leibold, Catherine Weaver, Masayoshi Tomizuka, Wei Zhan

In the exploration, a MPC collects diverse data by balancing the racing objectives and the exploration criterion; then the GP is re-trained.

Model Predictive Control regression

Skill-Critic: Refining Learned Skills for Reinforcement Learning

no code implementations • 14 Jun 2023 • Ce Hao, Catherine Weaver, Chen Tang, Kenta Kawamoto, Masayoshi Tomizuka, Wei Zhan

Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels.

Decision Making Hierarchical Reinforcement Learning +2