CASIA OpenIR
Deterministic generative adversarial imitation learning
Zuo, Guoyu1,2; Chen, Kexin1,2; Lu, Jiahao1,2; Huang, Xiangsheng3
Source PublicationNEUROCOMPUTING
ISSN0925-2312
2020-05-07
Volume388Pages:60-69
Corresponding AuthorZuo, Guoyu(zuoguoyu@bjut.edu.cn)
AbstractThis 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.
KeywordRobot learning Imitation learning Reinforcement learning GAN DGAIL
DOI10.1016/j.neucom.2020.01.016
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000520855400006
PublisherELSEVIER
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38723
Collection中国科学院自动化研究所
Corresponding AuthorZuo, Guoyu
Affiliation1.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
Recommended Citation
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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zuo, Guoyu]'s Articles
[Chen, Kexin]'s Articles
[Lu, Jiahao]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zuo, Guoyu]'s Articles
[Chen, Kexin]'s Articles
[Lu, Jiahao]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zuo, Guoyu]'s Articles
[Chen, Kexin]'s Articles
[Lu, Jiahao]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.