3 papers
cs.RO2026
Predictive Safety Curricula for Robust Legged Locomotion
Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1
Rare but consequential failures can persist in learned locomotion policies for legged robots even when average task performance is high, in part because standard curricula primaril…
cs.LG2024
Learning Causally Invariant Reward Functions from Diverse Demonstrations
Ivan Ovinnikov, Eugene Bykovets, Joachim M. Buhmann
Inverse reinforcement learning methods aim to retrieve the reward function of a Markov decision process based on a dataset of expert demonstrations. The commonplace scarcity and he…
cs.LG2023
Regularizing Adversarial Imitation Learning Using Causal Invariance
Ivan Ovinnikov, Joachim M. Buhmann
Imitation learning methods are used to infer a policy in a Markov decision process from a dataset of expert demonstrations by minimizing a divergence measure between the empirical…