微分同相隠れ状態ステアリング：専門家隠れ状態の幾何学による模倣学習方策のロバスト性向上
Diffeomorphic Hidden-State Steering: Improving Imitation Learning Policy Robustness through Expert Hidden-State Geometry
専門家の隠れ状態のばらつきが集中する方向を利用し、テスト時に隠れ状態を操作することで、模倣学習方策の観測ノイズに対するロバスト性を高める手法を提案。
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著者: KwangBin Lee
分類: cs.RO
原文アブストラクト
Small observation or action errors can compound during closed-loop execution and disrupt a trained imitation learning policy. We study whether the original expert demonstrations can improve robustness through test-time hidden-state steering without additional demonstrations or policy retraining. Our analysis of a trained policy finds that expert hidden-state variation is concentrated in relatively few dimensions, while the directions capturing this variation differ across regions. Motivated by this geometry, we propose Diffeomorphic Hidden-State Steering (DHS), which learns an invertible nonlinear coordinate map from expert hidden states obtained by replaying the demonstrations through the frozen policy. DHS attenuates coordinates with low expert variance more strongly than those with high variance, then maps the modified coordinates back to hidden-state space. This allows steering directions to vary with the current hidden state while retaining every coordinate. Across four simulated manipulation tasks, DHS improves mean success under observation noise over the unmodified Transformer policies. Controlled comparisons yield higher mean success with learned nonlinear coordinates than with linear coordinates under both hard projection and full-rank rescaling. Combining DHS with action smoothing improves mean success rate under observation noise in certain tasks compared with action smoothing alone.