Robust Maximum Entropy Behavior Cloning

Abstract

Imitation learning (IL) algorithms use expert demonstrations to learn a specific task. Most of the existing approaches assume that all expert demonstrations are reliable and trustworthy, but what if there exist some adversarial demonstrations among the given data-set? This may result in poor decision-making performance. We propose a novel general frame-work to directly generate a policy from demonstrations that autonomously detect the adversarial demonstrations and exclude them from the data set. At the same time, it's sample, time-efficient, and does not require a simulator. To model such adversarial demonstration we propose a min-max problem that leverages the entropy of the model to assign weights for each demonstration. This allows us to learn the behavior using only the correct demonstrations or a mixture of correct demonstrations.