Methods, systems, and computer-readable media for using inverse reinforcement learning to learn constraints from expert demonstrations are disclosed. The constraints may be learned as a constraint function in two alternating procedures, namely policy optimization and constraint function optimization. Neural network constraint functions may be learned which can represent arbitrary constraints. Embodiments are disclosed that work in all types of environments, with either discrete or continuous state and action spaces. Embodiments are disclosed that may scale to a large set of demonstrations. Embodiments are disclosed that work with any forward CRL technique when finding the optimal policy.
SYSTEMS AND METHODS TO LEARN CONSTRAINTS FROM EXPERT DEMONSTRATIONS
2023-11-23
Patent
Electronic Resource
English
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
TIBKAT | 2022
|Airship Control using Expert Demonstrations
AIAA | 2016
|Distributional expert demonstrations for autonomous driving
European Patent Office | 2025
|DISTRIBUTIONAL EXPERT DEMONSTRATIONS FOR AUTONOMOUS DRIVING
European Patent Office | 2023
|Prediction from expert demonstrations for safe tele-surgery
British Library Online Contents | 2013
|