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Pre-training with non-expert human demonstration for deep reinforcement learning

Part of: Adaptive Learning Agents 2018

Published online by Cambridge University Press:  26 July 2019

Gabriel V. de la Cruz Jr Open the ORCID record for Gabriel V. de la Cruz Jr [Opens in a new window] ,
Yunshu Du Open the ORCID record for Yunshu Du [Opens in a new window]  and
Matthew E. Taylor
Gabriel V. de la Cruz Jr
Affiliation:
School of Electrical Engineering and Computer Science, Washington State University, Pullman, Washington 99164-2752, USA e-mails: [email protected], [email protected], [email protected]
Yunshu Du
Affiliation:
School of Electrical Engineering and Computer Science, Washington State University, Pullman, Washington 99164-2752, USA e-mails: [email protected], [email protected], [email protected]
Matthew E. Taylor
Affiliation:
School of Electrical Engineering and Computer Science, Washington State University, Pullman, Washington 99164-2752, USA e-mails: [email protected], [email protected], [email protected]
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Abstract

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images is data inefficient. The agent must learn feature representation of complex states in addition to learning a policy. As a result, deep RL typically suffers from slow learning speeds and often requires a prohibitively large amount of training time and data to reach reasonable performance, making it inapplicable to real-world settings where data are expensive. In this work, we improve data efficiency in deep RL by addressing one of the two learning goals, feature learning. We leverage supervised learning to pre-train on a small set of non-expert human demonstrations and empirically evaluate our approach using the asynchronous advantage actor-critic algorithms in the Atari domain. Our results show significant improvements in learning speed, even when the provided demonstration is noisy and of low quality.

Type
Adaptive and Learning Agents
Information
The Knowledge Engineering Review , Volume 34 , 2019 , e10
Copyright
© Cambridge University Press, 2019 

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