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cs.LG2023
Provable Guarantees for Generative Behavior Cloning: Bridging Low-Level Stability and High-Level Behavior
Adam Block, Ali Jadbabaie, Daniel Pfrommer +2
We propose a theoretical framework for studying behavior cloning of complex expert demonstrations using generative modeling. Our framework invokes low-level controllers - either le…
cs.LG2023
The Power of Learned Locally Linear Models for Nonlinear Policy Optimization
Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek +2
A common pipeline in learning-based control is to iteratively estimate a model of system dynamics, and apply a trajectory optimization algorithm - e.g.~ - on the lea…