Deterministic generative adversarial imitation learning

doi:10.1016/j.neucom.2020.01.016

CORC > 自动化研究所 > 中国科学院自动化研究所 > 融合创新中心 > 决策指挥与体系智能

	Deterministic generative adversarial imitation learning
	Zuo, Guoyu 2,3; Chen, Kexin 2,3; Lu, Jiahao 2,3; Huang, Xiangsheng 1
刊名	NEUROCOMPUTING
	2020-05-07
卷号	388 页码:60-69
关键词	Robot learning Imitation learning Reinforcement learning GAN DGAIL
ISSN号	0925-2312
DOI	10.1016/j.neucom.2020.01.016
通讯作者	Zuo, Guoyu(zuoguoyu@bjut.edu.cn)
英文摘要	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.
WOS研究方向	Computer Science
语种	英语
出版者	ELSEVIER
WOS记录号	WOS:000520855400006
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/38722]
专题	融合创新中心_决策指挥与体系智能
通讯作者	Zuo, Guoyu
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Beijing Key Lab Comp Intelligence & Intelligent S, Beijing 100124, Peoples R China 3.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, 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.