Deterministic generative adversarial imitation learning
文献类型：期刊论文
| 作者 | Zuo, Guoyu1,2; Chen, Kexin1,2; Lu, Jiahao1,2; Huang, Xiangsheng3
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| 刊名 | NEUROCOMPUTING
 |
| 出版日期 | 2020-05-07 |
| 卷号 | 388页码:60-69 |
| ISSN号 | 0925-2312 |
| 关键词 | Robot learning Imitation learning Reinforcement learning GAN DGAIL |
| DOI | 10.1016/j.neucom.2020.01.016 |
| 通讯作者 | Zuo, Guoyu(zuoguoyu@bjut.edu.cn) |
| 英文摘要 | This paper proposes a deterministic generative adversarial imitation learning method which allows the robot to implement the motion planning task rapidly by learning from the demonstration data without reward function. In our method, the deep deterministic policy gradient method is used as the generator for learning the action policy on the basis of discriminator, and the demonstration data is input into the generator to ensure its stability. Three experiments on the push and pick-and-place tasks are conducted in the gym robotic environment. Results show that the learning speed of our method is much faster than the stochastic generative adversarial imitation learning method, and it can effectively learn from the demonstration data in different states of the task with higher learning stability. The proposed method can complete the motion planning task without environmental reward quickly and improve the stability of the training process. (C) 2020 Elsevier B.V. All rights reserved. |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| 出版者 | ELSEVIER |
| WOS记录号 | WOS:000520855400006 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38722]  |
| 专题 | 融合创新中心_决策指挥与体系智能 |
| 通讯作者 | Zuo, Guoyu |
| 作者单位 | 1.Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China 2.Beijing Key Lab Comp Intelligence & Intelligent S, Beijing 100124, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zuo, Guoyu,Chen, Kexin,Lu, Jiahao,et al. Deterministic generative adversarial imitation learning[J]. NEUROCOMPUTING,2020,388:60-69. |
| APA | Zuo, Guoyu,Chen, Kexin,Lu, Jiahao,&Huang, Xiangsheng.(2020).Deterministic generative adversarial imitation learning.NEUROCOMPUTING,388,60-69. |
| MLA | Zuo, Guoyu,et al."Deterministic generative adversarial imitation learning".NEUROCOMPUTING 388(2020):60-69. |
入库方式： OAI收割
来源：自动化研究所
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