SeMAIL: Eliminating Distractors in Visual Imitation via Separated Models

• URL: http://arxiv.org/abs/2306.10695v1
• Date: Mon, 19 Jun 2023 04:33:44 GMT
• Title: SeMAIL: Eliminating Distractors in Visual Imitation via Separated Models
• Authors: Shenghua Wan, Yucen Wang, Minghao Shao, Ruying Chen, De-Chuan Zhan
• Abstract summary: We propose a new model-based imitation learning algorithm named Separated Model-based Adversarial Imitation Learning (SeMAIL) Our method achieves near-expert performance on various visual control tasks with complex observations and the more challenging tasks with different backgrounds from expert observations.
• Score: 22.472167814814448
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Model-based imitation learning (MBIL) is a popular reinforcement learning method that improves sample efficiency on high-dimension input sources, such as images and videos. Following the convention of MBIL research, existing algorithms are highly deceptive by task-irrelevant information, especially moving distractors in videos. To tackle this problem, we propose a new algorithm - named Separated Model-based Adversarial Imitation Learning (SeMAIL) - decoupling the environment dynamics into two parts by task-relevant dependency, which is determined by agent actions, and training separately. In this way, the agent can imagine its trajectories and imitate the expert behavior efficiently in task-relevant state space. Our method achieves near-expert performance on various visual control tasks with complex observations and the more challenging tasks with different backgrounds from expert observations.

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