RIZE: Regularized Imitation Learning via Distributional Reinforcement Learning

TMLR Paper5614 Authors

Abstract: We propose a novel Inverse Reinforcement Learning (IRL) method that mitigates the rigidity of fixed reward structures and the limited flexibility of implicit reward regularization. Building on the Maximum Entropy IRL framework, our approach incorporates a squared temporal-difference (TD) regularizer with adaptive targets that evolve dynamically during training, thereby imposing adaptive bounds on recovered rewards and promoting robust decision-making. To capture richer return information, we integrate distributional RL into the learning process. Empirically, our method achieves expert-level performance on complex MuJoCo tasks, surpassing baseline methods on the Humanoid task with 3 demonstrations. Extensive experiments and ablation studies further validate the effectiveness of the approach and provide insights into reward dynamics in imitation learning.

Submission Length: Regular submission (no more than 12 pages of main content)

Assigned Action Editor: ~Aleksandra_Faust1

Submission Number: 5614