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Ch. 21 - Imitation Learning

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© Russ Tedrake, 2024 Last modified 2024-12-6. How to cite these notes, use annotations, and give feedback.

Ch. 21 - Imitation Learning Note: These are working notes used for a course being taught at MIT . They will be updated throughout the Spring 2024 semester. Lecture videos are available on YouTube . Previous Chapter Table of contents Next Chapter Imitation Learning Imitation learning, also known as "learning from demonstrations" (LfD), is the problem of learning a policy from a collection of demonstrations. For state-based feedback, these demonstrations take the form of a set of state-action sequences, $\left[ \bx[\cdot], \bu[\cdot]\right]$. For the richer class of output feedback , this takes

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