scholarly journals Closed-loop vs predictive control characterized by inverse reinforcement learning of visuomotor behavior during target interception

2019 ◽  
Vol 19 (10) ◽  
pp. 276a
Author(s):  
Kamran Binaee ◽  
Rakshit S Kothari ◽  
Gabriel J Diaz
Keyword(s):  
Reinforcement Learning ◽  
Predictive Control ◽  
Closed Loop ◽  
Inverse Reinforcement Learning ◽  
Visuomotor Behavior ◽  
Target Interception

scholarly journals Modular inverse reinforcement learning for visuomotor behavior

2013 ◽  
Vol 107 (4) ◽  
pp. 477-490 ◽  
Author(s):  
Constantin A. Rothkopf ◽  
Dana H. Ballard
Keyword(s):  
Reinforcement Learning ◽  
Inverse Reinforcement Learning ◽  
Visuomotor Behavior

Ensemble Inverse Reinforcement Learning from Semi-Expert Agents

2017 ◽  
Vol 137 (4) ◽  
pp. 667-673
Author(s):  
Shinji Tomita ◽  
Fumiya Hamatsu ◽  
Tomoki Hamagami
Keyword(s):  
Reinforcement Learning ◽  
Inverse Reinforcement Learning

Teaching AI Agents Ethical Values Using Reinforcement Learning and Policy Orchestration

2019 ◽  
Author(s):  
Ritesh Noothigattu ◽  
Djallel Bouneffouf ◽  
Nicholas Mattei ◽  
Rachita Chandra ◽  
Piyush Madan ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Ethical Values ◽  
Large Role ◽  
Learning To Learn ◽  
Inverse Reinforcement Learning ◽  
Time Step ◽  
Novel Approach

Autonomous cyber-physical agents play an increasingly large role in our lives. To ensure that they behave in ways aligned with the values of society, we must develop techniques that allow these agents to not only maximize their reward in an environment, but also to learn and follow the implicit constraints of society. We detail a novel approach that uses inverse reinforcement learning to learn a set of unspecified constraints from demonstrations and reinforcement learning to learn to maximize environmental rewards. A contextual bandit-based orchestrator then picks between the two policies: constraint-based and environment reward-based. The contextual bandit orchestrator allows the agent to mix policies in novel ways, taking the best actions from either a reward-maximizing or constrained policy. In addition, the orchestrator is transparent on which policy is being employed at each time step. We test our algorithms using Pac-Man and show that the agent is able to learn to act optimally, act within the demonstrated constraints, and mix these two functions in complex ways.

scholarly journals Inverse reinforcement learning in contextual MDPs

2021 ◽  
Author(s):  
Stav Belogolovsky ◽  
Philip Korsunsky ◽  
Shie Mannor ◽  
Chen Tessler ◽  
Tom Zahavy
Keyword(s):  
Reinforcement Learning ◽  
Optimization Problem ◽  
Decision Processes ◽  
Inverse Reinforcement Learning ◽  
Convex Optimization Problem ◽  
Reward Function ◽  
Dynamic Treatment Regime ◽  
Markov Decision ◽  
Dynamic Treatment ◽  
Recorded Data

AbstractWe consider the task of Inverse Reinforcement Learning in Contextual Markov Decision Processes (MDPs). In this setting, contexts, which define the reward and transition kernel, are sampled from a distribution. In addition, although the reward is a function of the context, it is not provided to the agent. Instead, the agent observes demonstrations from an optimal policy. The goal is to learn the reward mapping, such that the agent will act optimally even when encountering previously unseen contexts, also known as zero-shot transfer. We formulate this problem as a non-differential convex optimization problem and propose a novel algorithm to compute its subgradients. Based on this scheme, we analyze several methods both theoretically, where we compare the sample complexity and scalability, and empirically. Most importantly, we show both theoretically and empirically that our algorithms perform zero-shot transfer (generalize to new and unseen contexts). Specifically, we present empirical experiments in a dynamic treatment regime, where the goal is to learn a reward function which explains the behavior of expert physicians based on recorded data of them treating patients diagnosed with sepsis.

scholarly journals Dealing with multiple experts and non-stationarity in inverse reinforcement learning: an application to real-life problems

2021 ◽  
Author(s):  
Amarildo Likmeta ◽  
Alberto Maria Metelli ◽  
Giorgia Ramponi ◽  
Andrea Tirinzoni ◽  
Matteo Giuliani ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Real World ◽  
Real Life ◽  
User Preferences ◽  
Inverse Reinforcement Learning ◽  
Water Release ◽  
Reward Function ◽  
Model Free ◽  
Conflicting Objectives ◽  
Multiple Experts

AbstractIn real-world applications, inferring the intentions of expert agents (e.g., human operators) can be fundamental to understand how possibly conflicting objectives are managed, helping to interpret the demonstrated behavior. In this paper, we discuss how inverse reinforcement learning (IRL) can be employed to retrieve the reward function implicitly optimized by expert agents acting in real applications. Scaling IRL to real-world cases has proved challenging as typically only a fixed dataset of demonstrations is available and further interactions with the environment are not allowed. For this reason, we resort to a class of truly batch model-free IRL algorithms and we present three application scenarios: (1) the high-level decision-making problem in the highway driving scenario, and (2) inferring the user preferences in a social network (Twitter), and (3) the management of the water release in the Como Lake. For each of these scenarios, we provide formalization, experiments and a discussion to interpret the obtained results.

scholarly journals A reinforcement learning method with closed-loop stability guarantee for systems with unknown parameters

2020 ◽  
Vol 53 (2) ◽  
pp. 8157-8162
Author(s):  
Thomas Göhrt ◽  
Fritjof Griesing-Scheiwe ◽  
Pavel Osinenko ◽  
Stefan Streif
Keyword(s):  
Reinforcement Learning ◽  
Closed Loop ◽  
Learning Method ◽  
Unknown Parameters ◽  
Loop Stability
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