Date of Original Version



Conference Proceeding

Abstract or Description

Recent research has shown the benefit of framing problems of imitation learning as solutions to Markov Decision Problems. This approach reduces learning to the problem of re- covering a utility function that makes the behavior induced by a near-optimal policy closely mimic demonstrated behavior. In this work, we develop a probabilistic approach based on the principle of maximum entropy. Our approach provides a well-defined, globally normalized distribution over decision sequences, while providing the same performance guarantees as existing methods. We develop our technique in the context of modeling real world navigation and driving behaviors where collected data is inherently noisy and imperfect. Our probabilistic approach enables modeling of route preferences as well as a powerful new approach to inferring destinations and routes based on partial trajectories.

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Robotics Commons