Imitation learning trains control policies by mimicking pre-recorded expert
demonstrations. In partially observable settings, imitation policies must rely
on observation histories, but many seemingly paradoxical results show better
performance for policies that only access the most recent observation. Recent
solutions ranging from causal graph learning to deep information bottlenecks
have shown promising results, but failed to scale to realistic settings such as
visual imitation. We propose a solution that outperforms these prior approaches
by upweighting demonstration keyframes corresponding to expert action
changepoints. This simple approach easily scales to complex visual imitation
settings. Our experimental results demonstrate consistent performance
improvements over all baselines on image-based Gym MuJoCo continuous control
tasks. Finally, on the CARLA photorealistic vision-based urban driving
simulator, we resolve a long-standing issue in behavioral cloning for driving
by demonstrating effective imitation from observation histories. Supplementary
materials and code at: https://tinyurl.com/imitation-keyframes.

该研究提出了一种通过加强模仿的关键帧来改进模仿学习的方法，以在视觉模仿等现实场景中实现更好的性能表现，并在基于图像和基于视觉的控制任务中进行了验证。