Shi, Javen QinfengAbbasnejad, EhsanJabri, Mohamed Khalil2025-06-052025-06-052024https://hdl.handle.net/2440/145038Imitation Learning, also known as Learning from Demonstrations, has emerged as a practical alternative to reinforcement learning, mitigating the intricate challenges associated with reward engineering in the latter. However, imitation learning agents often face limitations that hinder their effectiveness in realistic scenarios. Sample efficiency and generalization pose notable challenges among these limitations. Concurrently, there has been an increasing acknowledgment of causality’s significance in improving learning-based approaches, resulting in its recent prominence within the machine learning community. This dissertation explores the potential of causality-inspired approaches to address the aforementioned challenges in imitation learning through two distinct contributions. The first contribution introduces a novel method to enhance goal-conditioned imitation learning using Structural Causal Models (SCMs) and counterfactual data. We leverage SCMs as a formalism to understand the inherent causal relationships between different variables governing expert behavior. This enables the generation of counterfactual data, which we utilize to learn improved reward functions with reduced data, thereby enhancing the agent’s efficiency. The second contribution focuses on identifying causal features that remain consistent across different environments. Unlike many works on domain generalization, our method is equally applicable to Reinforcement Learning and Imitation Learning, eschewing the need for domain supervision and remaining agnostic to data modality, rendering it broadly applicable. Through empirical evaluation, this dissertation establishes the efficacy of causalityinspired approaches in advancing imitation learning capabilities. The proposed methodologies not only contribute to overcoming some fundamental limitations of existing imitation learning algorithms but also provide valuable insights into the broader application of causality in machine learning.enReinforcement LearningImitation LearningCausalityCounterfactual ReasoningGeneralizationThesis