We consider imitation learning problems where the learner's ability to mimic the expert increases throughout the course of an episode as more information is revealed. One example of this is when the expert has access to privileged information: while the learner might not be able to accurately reproduce expert behavior early on in an episode, by considering the entire history of states and actions, they might be able to eventually identify the hidden context and act as the expert would. We prove that on-policy imitation learning algorithms (with or without access to a queryable expert) are better equipped to handle these sorts of asymptotically realizable problems than off-policy methods. This is because on-policy algorithms provably learn to recover from their initially suboptimal actions, while off-policy methods treat their suboptimal past actions as though they came from the expert.

We consider imitation learning problems where the learner's ability to mimic the expert increases throughout the course of an episode as more information is revealed. One example of this is when the expert has access to privileged information: while the learner might not be able to accurately reproduce expert behavior early on in an episode, by considering the entire history of states and actions, they might be able to eventually identify the hidden context and act as the expert would. We prove that on-policy imitation learning algorithms (with or without access to a queryable expert) are better equipped to handle these sorts of asymptotically realizable problems than off-policy methods. This is because on-policy algorithms provably learn to recover from their initially suboptimal actions, while off-policy methods treat their suboptimal past actions as though they came from the expert. We conduct experiments in a toy bandit domain that show that there exist sharp phase transitions of whether off-policy approaches are able to match expert performance asymptotically, in contrast to the uniformly good performance of on-policy approaches.

We consider imitation learning problems where the learner's ability to mimic the expert increases throughout the course of an episode as more information is revealed. One example of this is when the expert has access to privileged information: while the learner might not be able to accurately reproduce expert behavior early on in an episode, by considering the entire history of states and actions, they might be able to eventually identify the hidden context and act as the expert would. We prove that on-policy imitation learning algorithms (with or without access to a queryable expert) are better equipped to handle these sorts of asymptotically realizable problems than off-policy methods. This is because on-policy algorithms provably learn to recover from their initially suboptimal actions, while off-policy methods treat their suboptimal past actions as though they came from the expert. We conduct experiments in a toy bandit domain that show that there exist sharp phase transitions of whether off-policy approaches are able to match expert performance asymptotically, in contrast to the uniformly good performance of on-policy approaches.

Recent years have witnessed the success of introducing Transformers to time series forecasting. From a data generation perspective, we illustrate that existing Transformers are susceptible to distribution shifts driven by temporal contexts, whether observed or unobserved. Such context-driven distribution shift (CDS) introduces biases in predictions within specific contexts and poses challenges for conventional training paradigm. In this paper, we introduce a universal calibration methodology for the detection and adaptation of CDS with a trained Transformer model. To this end, we propose a novel CDS detector, termed the "residual-based CDS detector" or "Reconditionor", which quantifies the model's vulnerability to CDS by evaluating the mutual information between prediction residuals and their corresponding contexts. A high Reconditionor score indicates a severe susceptibility, thereby necessitating model adaptation. In this circumstance, we put forth a straightforward yet potent adapter framework for model calibration, termed the "sample-level contextualized adapter" or "SOLID". This framework involves the curation of a contextually similar dataset to the provided test sample and the subsequent fine-tuning of the model's prediction layer with a limited number of steps. Our theoretical analysis demonstrates that this adaptation strategy is able to achieve an optimal equilibrium between bias and variance. Notably, our proposed Reconditionor and SOLID are model-agnostic and readily adaptable to a wide range of Transformers. Extensive experiments show that SOLID consistently enhances the performance of current SOTA Transformers on real-world datasets, especially on cases with substantial CDS detected by the proposed Reconditionor, thus validate the effectiveness of the calibration approach.

We consider imitation learning problems where the learner's ability to mimic the expert increases throughout the course of an episode as more information is revealed. One example of this is when the expert has access to privileged information: while the learner might not be able to accurately reproduce expert behavior early on in an episode, by considering the entire history of states and actions, they might be able to eventually identify the hidden context and act as the expert would. We prove that on-policy imitation learning algorithms (with or without access to a queryable expert) are better equipped to handle these sorts of asymptotically realizable problems than off-policy methods. This is because on-policy algorithms provably learn to recover from their initially suboptimal actions, while off-policy methods treat their suboptimal past actions as though they came from the expert. This often manifests as a latching behavior: a naive repetition of past actions. We conduct experiments in a toy bandit domain that show that there exist sharp phase transitions of whether off-policy approaches are able to match expert performance asymptotically, in contrast to the uniformly good performance of on-policy approaches. We demonstrate that on several continuous control tasks, on-policy approaches are able to use history to identify the context while off-policy approaches actually perform worse when given access to history.

A standard assumption in sequential decision making is that we observe everything required to make good decisions. We discuss two specific examples (temporally correlated noise (a) and unobserved contexts (c)) that have stymied the use of IL/RL algorithms (in autonomous helicopters (b) and self-driving (d)). We derive provably correct algorithms for both of these problems that scale to continuous control problems. Reinforcement Learning (RL) and Imitation Learning (IL) methods have achieved impressive results in recent years like beating the world champion at Go or controlling stratospheric balloons. Usually, these results are on problems where we either a) observe the full state or b) are able to faithfully execute our intended actions on the system.

A standard assumption in sequential decision making is that we observe everything required to make good decisions. We discuss two specific examples (temporally correlated noise (a) and unobserved contexts (c)) that have stymied the use of IL/RL algorithms (in autonomous helicopters (b) and self-driving (d)). We derive provably correct algorithms for both of these problems that scale to continuous control problems. Reinforcement Learning (RL) and Imitation Learning (IL) methods have achieved impressive results in recent years like beating the world champion at Go or controlling stratospheric balloons. Usually, these results are on problems where we either a) observe the full state or b) are able to faithfully execute our intended actions on the system.