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cs.LG2021
Adaptive t-Momentum-based Optimization for Unknown Ratio of Outliers in Amateur Data in Imitation Learning
Wendyam Eric Lionel Ilboudo, Taisuke Kobayashi, Kenji Sugimoto
Behavioral cloning (BC) bears a high potential for safe and direct transfer of human skills to robots. However, demonstrations performed by human operators often contain noise or i…
cs.LG2020★ 8 cited
TAdam: A Robust Stochastic Gradient Optimizer
Wendyam Eric Lionel Ilboudo, Taisuke Kobayashi, Kenji Sugimoto
Machine learning algorithms aim to find patterns from observations, which may include some noise, especially in robotics domain. To perform well even with such noise, we expect the…