Abstract: Methods and systems for training a model include performing skill discovery, using a set of demonstrations that includes known-good demonstrations and noisy demonstrations, to generate a set of skills. A unidirectional skill embedding model is trained in a first training while parameters of a skill matching model and low-level policies that relate skills to actions are held constant. The unidirectional skill embedding model, the skill matching model, and the low-level policies are trained together in an end-to-end fashion in a second training.

Abstract: A method for learning a self-explainable imitator by discovering causal relationships between states and actions is presented. The method includes obtaining, via an acquisition component, demonstrations of a target task from experts for training a model to generate a learned policy, training the model, via a learning component, the learning component computing actions to be taken with respect to states, generating, via a dynamic causal discovery component, dynamic causal graphs for each environment state, encoding, via a causal encoding component, discovered causal relationships by updating state variable embeddings, and outputting, via an output component, the learned policy including trajectories similar to the demonstrations from the experts.

Abstract: A method for learning a self-explainable imitator by discovering causal relationships between states and actions is presented. The method includes obtaining, via an acquisition component, demonstrations of a target task from experts for training a model to generate a learned policy, training the model, via a learning component, the learning component computing actions to be taken with respect to states, generating, via a dynamic causal discovery component, dynamic causal graphs for each environment state, encoding, via a causal encoding component, discovered causal relationships by updating state variable embeddings, and outputting, via an output component, the learned policy including trajectories similar to the demonstrations from the experts.

Abstract: A method for learning a self-explainable imitator by discovering causal relationships between states and actions is presented. The method includes obtaining, via an acquisition component, demonstrations of a target task from experts for training a model to generate a learned policy, training the model, via a learning component, the learning component computing actions to be taken with respect to states, generating, via a dynamic causal discovery component, dynamic causal graphs for each environment state, encoding, via a causal encoding component, discovered causal relationships by updating state variable embeddings, and outputting, via an output component, the learned policy including trajectories similar to the demonstrations from the experts.

Abstract: A method for learning a self-explainable imitator by discovering causal relationships between states and actions is presented. The method includes obtaining, via an acquisition component, demonstrations of a target task from experts for training a model to generate a learned policy, training the model, via a learning component, the learning component computing actions to be taken with respect to states, generating, via a dynamic causal discovery component, dynamic causal graphs for each environment state, encoding, via a causal encoding component, discovered causal relationships by updating state variable embeddings, and outputting, via an output component, the learned policy including trajectories similar to the demonstrations from the experts.