VisualAdversarialImitationLearning usingVariationalModels

Behaviour cloning (BC) is a classic algorithm to imitate expert demonstrations [7], which uses supervised learning to greedily match the expert behaviour at demonstrated expert states. Due to environmentstochasticity,covariateshift,andpolicyapproximationerror,theagentmaydriftaway from the expert state distribution and ultimately fail to mimic the demonstrator [8].