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Maximilian Li

3 accepted papers

2023

Goal-Conditioned Imitation Learning using Score-based Diffusion Policies

RSS 2023poster

We propose a new policy representation based on score-based diffusion models (SDMs). We apply our new policy representation in the domain of Goal-Conditioned Imitation Learning (GCIL) to learn general-purpose goal-specified policies from large uncurated datasets without rewards. Our new goal-conditi…