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Imitation Learning and its Challenges in Robotics
Mustafa Mukadam · Sanjiban Choudhury · Siddhartha Srinivasa

Fri Dec 07 05:00 AM -- 03:30 PM (PST) @ Room 516 CDE
Event URL: https://sites.google.com/view/nips18-ilr »

Many animals including humans have the ability to acquire skills, knowledge, and social cues from a very young age. This ability to imitate by learning from demonstrations has inspired research across many disciplines like anthropology, neuroscience, psychology, and artificial intelligence. In AI, imitation learning (IL) serves as an essential tool for learning skills that are difficult to program by hand. The applicability of IL to robotics in particular, is useful when learning by trial and error (reinforcement learning) can be hazardous in the real world. Despite the many recent breakthroughs in IL, in the context of robotics there are several challenges to be addressed if robots are to operate freely and interact with humans in the real world.

Some important challenges include: 1) achieving good generalization and sample efficiency when the user can only provide a limited number of demonstrations with little to no feedback; 2) learning safe behaviors in human environments that require the least user intervention in terms of safety overrides without being overly conservative; and 3) leveraging data from multiple sources, including non-human sources, since limitations in hardware interfaces can often lead to poor quality demonstrations.

In this workshop, we aim to bring together researchers and experts in robotics, imitation and reinforcement learning, deep learning, and human robot interaction to
- Formalize the representations and primary challenges in IL as they pertain to robotics
- Delineate the key strengths and limitations of existing approaches with respect to these challenges
- Establish common baselines, metrics, and benchmarks, and identify open questions

Fri 5:50 a.m. - 6:00 a.m.
Mustafa Mukadam, Sanjiban Choudhury, Siddhartha Srinivasa
Fri 6:00 a.m. - 6:30 a.m.
Peter Stone (Invited Talk)
Peter Stone
Fri 6:30 a.m. - 7:00 a.m.
Sonia Chernova (Invited Talk)
Sonia Chernova
Fri 7:00 a.m. - 7:15 a.m.
Contributed Spotlights
Fri 7:15 a.m. - 8:00 a.m.
Coffee Break and Poster Session I (Break)
Pim de Haan, Bin Wang, Dequan Wang, Aadil Hayat, Ibrahim Sobh, Asif Rana, Thibault Buhet, Nick Rhinehart, Arjun Sharma, Alex Bewley, Michael Kelly, Lionel Blondé, Oz S. Oguz, Vai Viswanathan, Jeroen Vanbaar, Konrad Żołna, Negar Rostamzadeh, Rowan McAllister, Sanjay Thakur, Alexandros Kalousis, Chelsea Sidrane, Sujoy Paul, Daphne Chen, Mike Garmulewicz, Henryk Michalewski, Coline Devin, Hongyu Ren, Jiaming Song, Wen Sun, Hanzhang Hu, Wulong Liu, Emilie Wirbel
Fri 8:00 a.m. - 8:30 a.m.
Ingmar Posner (Invited Talk)
Ingmar Posner
Fri 8:30 a.m. - 9:00 a.m.
Dorsa Sadigh (Invited Talk)
Dorsa Sadigh
Fri 9:00 a.m. - 11:00 a.m.
Lunch Break (Break)
Fri 11:00 a.m. - 11:30 a.m.
Byron Boots (Invited Talk)
Byron Boots
Fri 11:30 a.m. - 11:45 a.m.
Dileep George (Industry Spotlight)
Dileep George
Fri 11:45 a.m. - 12:30 p.m.
Coffee Break and Poster Session II (Break)
Fri 12:30 p.m. - 1:00 p.m.
Yisong Yue (Invited Talk)
Yisong Yue
Fri 1:00 p.m. - 1:30 p.m.
Anca Dragan (Invited Talk)
Anca Dragan
Fri 1:30 p.m. - 2:00 p.m.
Drew Bagnell / Wen Sun (Invited Talk)
James Bagnell, Wen Sun
Fri 2:00 p.m. - 2:30 p.m.
Panel Discussion

Author Information

Mustafa Mukadam (Georgia Institute of Technology)
Sanjiban Choudhury (University of Washington)
Siddhartha Srinivasa (University of Washington)

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