Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Conferences, Workshops, Symposiums, and Seminars
  4. Transfer in Inverse Reinforcement Learning for Multiple Strategies
 
conference paper

Transfer in Inverse Reinforcement Learning for Multiple Strategies

Tanwani, Ajay Kumar  
•
Billard, Aude  orcid-logo
Amato, N.
2013
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
IEEE/RSJ International Conference on Intelligent Robots and Systems

We consider the problem of incrementally learning different strategies of performing a complex sequential task from multiple demonstrations of an expert or a set of experts. While the task is the same, each expert differs in his/her way of performing it. We assume that this variety across experts' demonstration is due to the fact that each expert/strategy is driven by a different reward function, where reward function is expressed as a linear combination of a set of known features. Consequently, we can learn all the expert strategies by forming a convex set of optimal deterministic policies, from which one can match any unseen expert strategy drawn from this set. Instead of learning from scratch every optimal policy in this set, the learner transfers knowledge from the set of learned policies to bootstrap its search for new optimal policy. We demonstrate our approach on a simulated mini-golf task where the 7 degrees of freedom Barrett WAM robot arm learns to sequentially putt on different holes in accordance with the playing strategies of the expert.

  • Files
  • Details
  • Metrics
Loading...
Thumbnail Image
Name

Tanwani_iros13.pdf

Access type

openaccess

Size

293.43 KB

Format

Adobe PDF

Checksum (MD5)

62f1a1a699e8af002f093bb4d2fa8505

Loading...
Thumbnail Image
Name

Tanwani_iros13_HD.wmv.asf

Access type

openaccess

Size

14.08 MB

Format

Unknown

Checksum (MD5)

b1ad8c0e62fe2e1671a56d69af4c48d2

Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés