{"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/modular-adaptive-policy-selection-for-multi","title":"Modular Adaptive Policy Selection for Multi-Task Imitation Learning through Task Division","arxiv_id":"2203.14855","date":"2022-03-28","proceeding":null,"authors":["Dafni Antotsiou","Carlo Ciliberto","Tae-Kyun Kim"],"abstract":"Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and alleviate the need for many demonstrations. But, joint multi-task learning often suffers from negative transfer, sharing information that should be task-specific. In this work, we introduce a method to perform multi-task imitation while allowing for task-specific features. This is done by using proto-policies as modules to divide the tasks into simple sub-behaviours that can be shared. The proto-policies operate in parallel and are adaptively chosen by a selector mechanism that is jointly trained with the modules. Experiments on different sets of tasks show that our method improves upon the accuracy of single agents, task-conditioned and multi-headed multi-task agents, as well as state-of-the-art meta learning agents. We also demonstrate its ability to autonomously divide the tasks into both shared and task-specific sub-behaviours.","url_abs":"https://arxiv.org/abs/2203.14855v2","url_pdf":"https://arxiv.org/pdf/2203.14855v2.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":"modular-adaptive-policy-selection-for-multi","repo_url":"https://github.com/DaphneAntotsiou/MAPS","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"meta-learning","task_name":"Meta-Learning"},{"task_slug":"multi-task-learning","task_name":"Multi-Task Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}