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Learning from Limited Demonstrations
Beomjoon Kim · Amir-massoud Farahmand · Joelle Pineau · Doina Precup

Sun Dec 08 02:00 PM -- 06:00 PM (PST) @ Harrah's Special Events Center, 2nd Floor

We propose an approach to learning from demonstration (LfD) which leverages expert data, even if the expert examples are very few or inaccurate. We achieve this by integrating LfD in an approximate policy iteration algorithm. The key idea of our approach is that expert examples are used to generate linear constraints on the optimization, in a similar fashion to large-margin classification. We prove an upper bound on the true Bellman error of the approximation computed by the algorithm at each iteration. We show empirically that the algorithm outperforms both pure policy iteration, as well as DAgger (a state-of-art LfD algorithm) and supervised learning in a variety of scenarios, including when very few and/or imperfect demonstrations are available. Our experiments include simulations as well as a real robotic navigation task.

Author Information

Beomjoon Kim (McGill University)
Amir-massoud Farahmand (Vector Institute)
Joelle Pineau (McGill University)

Joelle Pineau is an Associate Professor and William Dawson Scholar at McGill University where she co-directs the Reasoning and Learning Lab. She also leads the Facebook AI Research lab in Montreal, Canada. She holds a BASc in Engineering from the University of Waterloo, and an MSc and PhD in Robotics from Carnegie Mellon University. Dr. Pineau's research focuses on developing new models and algorithms for planning and learning in complex partially-observable domains. She also works on applying these algorithms to complex problems in robotics, health care, games and conversational agents. She serves on the editorial board of the Journal of Artificial Intelligence Research and the Journal of Machine Learning Research and is currently President of the International Machine Learning Society. She is a recipient of NSERC's E.W.R. Steacie Memorial Fellowship (2018), a Fellow of the Association for the Advancement of Artificial Intelligence (AAAI), a Senior Fellow of the Canadian Institute for Advanced Research (CIFAR) and in 2016 was named a member of the College of New Scholars, Artists and Scientists by the Royal Society of Canada.

Doina Precup (McGill University / Mila / DeepMind Montreal)

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