Interactive Teaching Algorithms for Inverse Reinforcement Learning

We study the problem of inverse reinforcement learning (IRL) with the added twist that the learner is assisted by a helpful teacher. More formally, we tackle the following algorithmic question: How could a teacher provide an informative sequence of demonstrations to an IRL learner to speed up the learning process? We present an interactive teaching framework where a teacher adaptively chooses the next demonstration based on learner's current policy. In particular, we design teaching algorithms for two concrete settings: an omniscient setting where a teacher has full knowledge about the learner's dynamics and a blackbox setting where the teacher has minimal knowledge. Then, we study a sequential variant of the popular MCE-IRL learner and prove convergence guarantees of our teaching algorithm in the omniscient setting. Extensive experiments with a car driving simulator environment show that the learning progress can be speeded up drastically as compared to an uninformative teacher.


Presented at:
The 28th International Joint Conference on Artificial Intelligence, 2019., Macao, China, August 10-16, 2019
Year:
Aug 10 2019
Laboratories:




 Record created 2019-10-15, last modified 2019-10-16

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