Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to apply to real-world scenarios, where robots have to be able to execute a multitude of tasks. In this paper, we propose a multi-modal imitation learning framework that is able to segment and imitate skills from unlabelled and unstructured demonstrations by learning skill segmentation and imitation learning jointly. The extensive simulation results indicate that our method can efficiently separate the demonstrations into individual skills and learn to imitate them using a single multi-modal policy.

The paper describes a new learning model able to discover'intentions' from expert policies by using an imitation learning framework. The idea is mainly based on the GAIL model which aims at learning by imitation a policy using a GAN approach. The main difference in the article is that the learned policy is, in fact, a mixture of sub-policies, each sub-policy aiming at automatically matching a particular intention in the expert behavior. The GAIL algorithm is thus derived with this mixture, resulting in an effective learning technique. Another approach is also proposed where the intention will be captured through a latent vector by derivating the InfoGAN algorithm for this particular case.

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to apply to real-world scenarios, where robots have to be able to execute a multitude of tasks. In this paper, we propose a multi-modal imitation learning framework that is able to segment and imitate skills from unlabelled and unstructured demonstrations by learning skill segmentation and imitation learning jointly. The extensive simulation results indicate that our method can efficiently separate the demonstrations into individual skills and learn to imitate them using a single multi-modal policy. Papers published at the Neural Information Processing Systems Conference.