{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/co-gail-learning-diverse-strategies-for-human","title":"Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration","arxiv_id":"2108.06038","date":"2021-08-13","proceeding":null,"authors":["Chen Wang","Claudia Pérez-D'Arpino","Danfei Xu","Li Fei-Fei","C. Karen Liu","Silvio Savarese"],"abstract":"We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the humans adjust their strategies during online task execution. Our method co-optimizes a human policy and a robot policy in an interactive learning process: the human policy learns to generate diverse and plausible collaborative behaviors from demonstrations while the robot policy learns to assist by estimating the unobserved latent strategy of its human collaborator. Across a 2D strategy game, a human-robot handover task, and a multi-step collaborative manipulation task, our method outperforms the alternatives in both simulated evaluations and when executing the tasks with a real human operator in-the-loop. Supplementary materials and videos at https://sites.google.com/view/co-gail-web/home","url_abs":"https://arxiv.org/abs/2108.06038v2","url_pdf":"https://arxiv.org/pdf/2108.06038v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"co-gail-learning-diverse-strategies-for-human","repo_url":"https://github.com/j96w/cogail","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2108.06038","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2108.06038"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/j96w/cogail","reach":null}],"summary":{"ran_honours":1,"ran_draft_wrong":1},"by_repo_kind":{"listed":{"samples":2,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"8f06ddd721133956","entry":"replay_evaluate_2d","repo":"j96w/cogail","repo_kind":"listed","path":"scripts/eval_replay.py","file_url":"https://github.com/j96w/cogail/blob/HEAD/scripts/eval_replay.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8f06ddd721133956"}},{"code_sha256_prefix":"909d4b7faf300c6f","entry":"replay_evaluate_ig","repo":"j96w/cogail","repo_kind":"listed","path":"scripts/eval_replay.py","file_url":"https://github.com/j96w/cogail/blob/HEAD/scripts/eval_replay.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"909d4b7faf300c6f"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}