Deterministic generative adversarial imitation learning

doi:10.1016/j.neucom.2020.01.016

	Deterministic generative adversarial imitation learning
	Zuo, Guoyu 1,2; Chen, Kexin 1,2; Lu, Jiahao 1,2; Huang, Xiangsheng3
发表期刊	NEUROCOMPUTING
ISSN	0925-2312
	2020-05-07
卷号	388 页码:60-69
通讯作者	Zuo, Guoyu(zuoguoyu@bjut.edu.cn)
摘要	This paper proposes a deterministic generative adversarial imitation learning method which allows the robot to implement the motion planning task rapidly by learning from the demonstration data without reward function. In our method, the deep deterministic policy gradient method is used as the generator for learning the action policy on the basis of discriminator, and the demonstration data is input into the generator to ensure its stability. Three experiments on the push and pick-and-place tasks are conducted in the gym robotic environment. Results show that the learning speed of our method is much faster than the stochastic generative adversarial imitation learning method, and it can effectively learn from the demonstration data in different states of the task with higher learning stability. The proposed method can complete the motion planning task without environmental reward quickly and improve the stability of the training process. (C) 2020 Elsevier B.V. All rights reserved.
关键词	Robot learning Imitation learning Reinforcement learning GAN DGAIL
DOI	10.1016/j.neucom.2020.01.016
收录类别	SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence
WOS记录号	WOS:000520855400006
出版者	ELSEVIER
引用统计	被引频次：17[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/38723
专题	复杂系统认知与决策实验室_决策指挥与体系智能
通讯作者	Zuo, Guoyu
作者单位	1.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China 2.Beijing Key Lab Comp Intelligence & Intelligent S, Beijing 100124, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zuo, Guoyu,Chen, Kexin,Lu, Jiahao,et al. Deterministic generative adversarial imitation learning[J]. NEUROCOMPUTING,2020,388:60-69.
APA	Zuo, Guoyu,Chen, Kexin,Lu, Jiahao,&Huang, Xiangsheng.(2020).Deterministic generative adversarial imitation learning.NEUROCOMPUTING,388,60-69.
MLA	Zuo, Guoyu,et al."Deterministic generative adversarial imitation learning".NEUROCOMPUTING 388(2020):60-69.