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arXiv 2008.07284cs.LGcs.AIcs.RO
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共享网络权值和超参数的正反向强化学习

Forward and inverse reinforcement learning sharing network weights and hyperparameters

ATR Computational Neuroscience Laboratories(ATR计算神经科学实验室);Okinawa Institute of Science and Technology Graduate University(冲绳科学技术大学院大学)

Eiji Uchibe, Kenji Doya

摘要:

本文提出了一种无模型的模仿学习,称为熵正则化模仿学习(ERIL),最大限度地减少反向Kullback-Leibler(KL)分歧。ERIL在熵正则化马尔可夫决策过程的框架下结合了正向和反向强化学习(RL)。逆RL步骤通过评估两个二进制鉴别器来计算两个分布之间的对数比。第一个识别器将前向RL步骤生成的状态与专家的状态区分开来。第二种方法利用熵正则化理论构造,将学习者产生的状态-动作-下一状态元组与专家元组区分开来。一个值得注意的特点是第二个递归函数与前向递归函数共享超参数,这可以用来控制递归函数的能力。前向RL步骤最小化由逆RL步骤估计的逆KL。我们表明,最小化反向KL分歧相当于找到一个最优的政策。我们的实验结果MuJoCo模拟环境和基于视觉的机械臂达到任务表明,ERIL是更有效的样本比基线方法。我们将该方法应用于执行杆平衡任务的人类行为,并描述了估计的奖励函数如何显示每个受试者如何实现她的目标。

英文摘要:

This paper proposes model-free imitation learning named Entropy-Regularized Imitation Learning (ERIL) that minimizes the reverse Kullback-Leibler (KL) divergence. ERIL combines forward and inverse reinforcement learning (RL) under the framework of an entropy-regularized Markov decision process. An inverse RL step computes the log-ratio between two distributions by evaluating two binary discriminators. The first discriminator distinguishes the state generated by the forward RL step from the expert's state. The second discriminator, which is structured by the theory of entropy regularization, distinguishes the state-action-next-state tuples generated by the learner from the expert ones. One notable feature is that the second discriminator shares hyperparameters with the forward RL, which can be used to control the discriminator's ability. A forward RL step minimizes the reverse KL estimated by the inverse RL step. We show that minimizing the reverse KL divergence is equivalent to finding an optimal policy. Our experimental results on MuJoCo-simulated environments and vision-based reaching tasks with a robotic arm show that ERIL is more sample-efficient than the baseline methods. We apply the method to human behaviors that perform a pole-balancing task and describe how the estimated reward functions show how every subject achieves her goal.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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