CompILE: Compositional Imitation Learning and Execution

Thomas Kipf, Yujia Li, Hanjun Dai, Vinícius Flores Zambaldi, Alvaro Sanchez-Gonzalez, Edward Grefenstette, Pushmeet Kohli, Peter Battaglia

Abstract: We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. Com...