Proceedings ArticleDOI
Apprenticeship learning via inverse reinforcement learning
Pieter Abbeel,Andrew Y. Ng +1 more
- pp 1-8
TLDR
This work thinks of the expert as trying to maximize a reward function that is expressible as a linear combination of known features, and gives an algorithm for learning the task demonstrated by the expert, based on using "inverse reinforcement learning" to try to recover the unknown reward function.Abstract:
We consider learning in a Markov decision process where we are not explicitly given a reward function, but where instead we can observe an expert demonstrating the task that we want to learn to perform. This setting is useful in applications (such as the task of driving) where it may be difficult to write down an explicit reward function specifying exactly how different desiderata should be traded off. We think of the expert as trying to maximize a reward function that is expressible as a linear combination of known features, and give an algorithm for learning the task demonstrated by the expert. Our algorithm is based on using "inverse reinforcement learning" to try to recover the unknown reward function. We show that our algorithm terminates in a small number of iterations, and that even though we may never recover the expert's reward function, the policy output by the algorithm will attain performance close to that of the expert, where here performance is measured with respect to the expert's unknown reward function.read more
Citations
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Reinforcement Learning: An Introduction
TL;DR: This book provides a clear and simple account of the key ideas and algorithms of reinforcement learning, which ranges from the history of the field's intellectual foundations to the most recent developments and applications.
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A survey of robot learning from demonstration
TL;DR: A comprehensive survey of robot Learning from Demonstration (LfD), a technique that develops policies from example state to action mappings, which analyzes and categorizes the multiple ways in which examples are gathered, as well as the various techniques for policy derivation.
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Maximum entropy inverse reinforcement learning
TL;DR: A probabilistic approach based on the principle of maximum entropy that provides a well-defined, globally normalized distribution over decision sequences, while providing the same performance guarantees as existing methods is developed.
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Reinforcement learning in robotics: A survey
TL;DR: This article attempts to strengthen the links between the two research communities by providing a survey of work in reinforcement learning for behavior generation in robots by highlighting both key challenges in robot reinforcement learning as well as notable successes.
References
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TL;DR: Setting of the learning problem consistency of learning processes bounds on the rate of convergence ofLearning processes controlling the generalization ability of learning process constructing learning algorithms what is important in learning theory?
Statistical learning theory
TL;DR: Presenting a method for determining the necessary and sufficient conditions for consistency of learning process, the author covers function estimates from small data pools, applying these estimations to real-life problems, and much more.
Journal ArticleDOI
Algorithms for Inverse Reinforcement Learning
Andrew Y. Ng,Stuart Russell +1 more
TL;DR: Pharmacokinetics of ivermectin after IV administration were best described by a 2-compartment open model; values for main compartmental variables included volume of distribution at a steady state, area under the plasma concentration-time curve, and area underThe AUC curve.
Proceedings Article
Policy Invariance Under Reward Transformations: Theory and Application to Reward Shaping
TL;DR: Conditions under which modi cations to the reward function of a Markov decision process preserve the op timal policy are investigated to shed light on the practice of reward shap ing a method used in reinforcement learn ing whereby additional training rewards are used to guide the learning agent.