Humans learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations
Figure 1: Behavioral Cloning from Observation (BCO()) framework proposed in this paper. The agent is initialized with a (random) policy which interacts with the environment and collects data to to learn its own agent-specific inverse dynamics model. Then, given state-only demonstration information, the agent uses this learned model to infer the expert’s missing action information. Once these actions have been inferred, the agent performs imitation learning. The updated policy is then used to collect data and this process repeats.
