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Versatile Inverse Reinforcement Learning via Cumulative Rewards

Freymuth, Niklas; Becker, Philipp; Neumann, Gerhard

Abstract:
Inverse Reinforcement Learning infers a reward function from expert demonstrations, aiming to encode the behavior and intentions of the expert. Current approaches usually do this with generative and uni-modal models, meaning that they encode a single behavior. In the common setting, where there are various solutions to a problem and the experts show versatile behavior this severely limits the generalization capabilities of these methods. We propose a novel method for Inverse Reinforcement Learning that overcomes these problems by formulating the recovered reward as a sum of iteratively trained discriminators. We show on simulated tasks that our approach is able to recover general, high-quality reward functions and produces policies of the same quality as behavioral cloning approaches designed for versatile behavior.


Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Forschungsbericht/Preprint
Publikationsdatum 14.12.2021
Sprache Englisch
Identifikator KITopen-ID: 1000140287
Bemerkung zur Veröffentlichung Workshop on Robot Learning: Self-Supervised and Lifelong Learning
Nachgewiesen in arXiv
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