SD2AIL generates synthetic expert demonstrations via diffusion models and prioritizes them with PEDR to improve adversarial imitation learning performance on simulation benchmarks.
First, we adopt a diffusion model in the discriminator of AIL to generate pseudo-expert demonstrations that augment the real expert demonstrations
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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.