资源论文Model-Free Imitation Learning with Policy Optimization

Model-Free Imitation Learning with Policy Optimization

2020-03-05 | |  62 |   45 |   0

Abstract

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or reinforcement learning problems. Such algorithms are therefore not directly applicable to large, high-dimensional environments, and their performance can significantly degrade if the planning problems are not solved to optimality. Under the apprenticeship learning formalism, we develop alternative model-free algorithms for finding a parameterized stochastic policy that performs at least as well as an expert policy on an unknown cost function, based on sample trajectories from the expert. Our approach, based on policy gradients, scales to large continuous environments with guaranteed convergence to local minima.

上一篇:Generalization and Exploration via Randomized Value Functions

下一篇:Fast Rate Analysis of Some Stochastic Optimization Algorithms

用户评价
全部评价

热门资源

  • The Variational S...

    Unlike traditional images which do not offer in...

  • Learning to Predi...

    Much of model-based reinforcement learning invo...

  • Stratified Strate...

    In this paper we introduce Stratified Strategy ...

  • Learning to learn...

    The move from hand-designed features to learned...

  • A Mathematical Mo...

    Direct democracy, where each voter casts one vo...