# Stochastic Action Prediction for Imitation Learning

arXiv: https://arxiv.org/abs/2101.01055 · HTML: https://mlsanity.com/paper/2101.01055/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Imitation learning methods, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 14 of its 21 references that are in the map.
- First posted on arXiv 26 Dec 2020.

## Placed in

- Offline RL and imitation learning from data / [Imitation learning methods](https://mlsanity.com/offlinerl/imitation-learning-methods/)

## Builds on (most cited first, 14 of 14)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Auto-Encoding Variational Bayes](https://mlsanity.com/paper/1312.6114/) (2013)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Conditional Generative Adversarial Nets](https://mlsanity.com/paper/1411.1784/) (2014)
- [The Concrete Distribution: A Continuous Relaxation of Discrete Random Variables](https://mlsanity.com/paper/1611.00712/) (2016)
- [Conditional Image Generation with PixelCNN Decoders](https://mlsanity.com/paper/1606.05328/) (2016)
- [Pixel Recurrent Neural Networks](https://mlsanity.com/paper/1601.06759/) (2016)
- [Wasserstein GAN](https://mlsanity.com/paper/1701.07875/) (2017)
- [Model-Based Reinforcement Learning for Atari](https://mlsanity.com/paper/1903.00374/) (2019)
- [Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation](https://mlsanity.com/paper/1710.04615/) (2017)
- [Stochastic Variational Video Prediction](https://mlsanity.com/paper/1710.11252/) (2017)
- [One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning](https://mlsanity.com/paper/1802.01557/) (2018)
- [Deep Reinforcement Learning for High Precision Assembly Tasks](https://mlsanity.com/paper/1708.04033/) (2017)

## Abstract (arXiv)

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might accomplish the same task in slightly different ways. In this paper, we demonstrate inherent stochasticity in demonstrations collected for tasks including line following with a remote-controlled car and manipulation tasks including reaching, pushing, and picking and placing an object. We model stochasticity in the data distribution using autoregressive action generation, generative adversarial nets, and variational prediction and compare the performance of these approaches. We find that accounting for stochasticity in the expert data leads to substantial improvement in the success rate of task completion.