• Corpus ID: 220713273

Bridging the Imitation Gap by Adaptive Insubordination

  title={Bridging the Imitation Gap by Adaptive Insubordination},
  author={Luca Weihs and Unnat Jain and Jordi Salvador and Svetlana Lazebnik and Aniruddha Kembhavi and Alexander G. Schwing},
Why do agents often obtain better reinforcement learning policies when imitating a worse expert? We show that privileged information used by the expert is marginalized in the learned agent policy, resulting in an "imitation gap." Prior work bridges this gap via a progression from imitation learning to reinforcement learning. While often successful, gradual progression fails for tasks that require frequent switches between exploration and memorization skills. To better address these tasks and… 
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