Causal Confusion in Imitation Learning

NeurIPS 2019 Pim de HaanDinesh JayaramanSergey Levine

Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are non-causal: the training procedure is unaware of the causal structure of the interaction between the expert and the environment... (read more)

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