Web: http://arxiv.org/abs/2206.11299

June 24, 2022, 1:10 a.m. | Tianyu Wang, Nikhil Karnwal, Nikolay Atanasov

cs.LG updates on arXiv.org arxiv.org

This paper considers learning robot locomotion and manipulation tasks from
expert demonstrations. Generative adversarial imitation learning (GAIL) trains
a discriminator that distinguishes expert from agent transitions, and in turn
use a reward defined by the discriminator output to optimize a policy generator
for the agent. This generative adversarial training approach is very powerful
but depends on a delicate balance between the discriminator and the generator
training. In high-dimensional problems, the discriminator training may easily
overfit or exploit associations with task-irrelevant …

arxiv imitation learning learning lg

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