5 citations · 6 across the 2 of their papers we have counts for
6 papers
Causal Imitation Learning under Temporally Correlated Noise
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell +1
We develop algorithms for imitation learning from policy data that was corrupted by temporally correlated noise in expert actions. When noise affects multiple timesteps of recorded…
A Critique of Strictly Batch Imitation Learning
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell +1
Recent work by Jarrett et al. attempts to frame the problem of offline imitation learning (IL) as one of learning a joint energy-based model, with the hope of out-performing standa…
Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell +1
We provide a unifying view of a large family of previous imitation learning algorithms through the lens of moment matching. At its core, our classification scheme is based on wheth…
Scaled Autonomy: Enabling Human Operators to Control Robot Fleets
Gokul Swamy, Siddharth Reddy, Sergey Levine +1
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In sett…
On the Utility of Model Learning in HRI
Gokul Swamy, Jens Schulz, Rohan Choudhury +2
Fundamental to robotics is the debate between model-based and model-free learning: should the robot build an explicit model of the world, or learn a policy directly? In the context…
Generative Models for Pose Transfer
Patrick Chao, Alexander Li, Gokul Swamy
We investigate nearest neighbor and generative models for transferring pose between persons. We take in a video of one person performing a sequence of actions and attempt to genera…