Accelerating Imitation Learning with Predictive Models

Ching-An Cheng, Xinyan Yan, Evangelos A. Theodorou +1

Agile Autonomous Driving using End-to-End Deep Imitation Learning

Yunpeng Pan, Ching-An Cheng, Kamil Saigol +4

The paper introduces an end-to-end deep imitation learning system that enables high-speed off‑road autonomous driving using only low‑cost sensors, by training a neural network to m…

Predictor-Corrector Policy Optimization

Ching-An Cheng, Xinyan Yan, Nathan Ratliff +1

Adaptive Probabilistic Trajectory Optimization via Efficient Approximate Inference

Yunpeng Pan, Xinyan Yan, Evangelos Theodorou +1

Manifold Regularization for Kernelized LSTD

Xinyan Yan, Krzysztof Choromanski, Byron Boots +1

Fast Policy Learning through Imitation and Reinforcement

Ching-An Cheng, Xinyan Yan, Nolan Wagener +1

Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping

Xinyan Yan, Vadim Indelman, Byron Boots

Trajectory-wise Control Variates for Variance Reduction in Policy Gradient Methods

Ching-An Cheng, Xinyan Yan, Byron Boots

The paper proposes trajectory-wise control variates to more effectively reduce the variance of Monte Carlo gradient estimates in policy gradient reinforcement learning, showing the…

Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference

Mustafa Mukadam, Jing Dong, Xinyan Yan +2