SD2AIL generates synthetic expert demonstrations via diffusion models and prioritizes them with PEDR to improve adversarial imitation learning performance on simulation benchmarks.
Robust behav- ioral cloning for autonomous vehicles using end-to-end imita- tion learning,
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SD2AIL: Adversarial Imitation Learning from Synthetic Demonstrations via Diffusion Models
SD2AIL generates synthetic expert demonstrations via diffusion models and prioritizes them with PEDR to improve adversarial imitation learning performance on simulation benchmarks.