Inverse Reinforcement Learning in Large State Spaces via Function Approximation

This paper introduces a new method for inverse reinforcement learning in large-scale and high-dimensional state spaces. To avoid solving the computationally expensive reinforcement learning problems in reward learning, we propose a function approximation method to ensure that the Bellman Optimality...

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Bibliographic Details
Published inarXiv.org
Main Authors Li, Kun, Burdick, Joel W
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 13.08.2017
Subjects
Approximation
Computer simulation
Decision trees
Machine learning
Mathematical analysis
Spinal cord
Test procedures
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Summary:This paper introduces a new method for inverse reinforcement learning in large-scale and high-dimensional state spaces. To avoid solving the computationally expensive reinforcement learning problems in reward learning, we propose a function approximation method to ensure that the Bellman Optimality Equation always holds, and then estimate a function to maximize the likelihood of the observed motion. The time complexity of the proposed method is linearly proportional to the cardinality of the action set, thus it can handle large state spaces efficiently. We test the proposed method in a simulated environment, and show that it is more accurate than existing methods and significantly better in scalability. We also show that the proposed method can extend many existing methods to high-dimensional state spaces. We then apply the method to evaluating the effect of rehabilitative stimulations on patients with spinal cord injuries based on the observed patient motions.
ISSN:2331-8422