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Knowledge Transfer from Expert Demonstrations in Continuous State-Action Spaces

Ewing, Gabriel
http://rave.ohiolink.edu/etdc/view?acc_num=case1512748071082221

Abstract Details

2018, Master of Sciences, Case Western Reserve University, EECS - Computer and Information Sciences.
In this thesis, we address the task of reinforcement learning in continuous state and action spaces. Specifically, we consider multi-task reinforcement learning, where a sequence of reinforcement learning tasks have to be solved, and inverse reinforcement learning, where a reward function has to be learned from expert demonstrations. We also use trees to represent models, rewards, and value functions in our domains. First, we design an algorithm to learn from demonstration in the presence of a non- smooth reward function. Second, we design another algorithm to perform offline reinforcement learning in the same scenario. This allows us to re-use experiences to help with new tasks. Third, we introduce a method to incorporate weak knowledge about policies with online learning in policy gradient algorithms. These contributions allow us to create a pipeline that efficiently learns and transfers knowledge across a sequence of tasks. We demonstrate our approaches on the task of learning control of a prosthetic arm from expert demonstrations under various scenarios in simulation.
Soumya Ray, Dr. (Advisor)
Michael Fu, Dr. (Committee Member)
M. Cenk Cavusoglu, Dr. (Committee Member)
Michael Lewicki, Dr. (Committee Member)
113 p.
Computer Science
Machine learning; reinforcement learning; continuous actions; knowledge transfer; prostheses

Recommended Citations

Citations

  • Ewing, G. (2018). Knowledge Transfer from Expert Demonstrations in Continuous State-Action Spaces [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1512748071082221

    APA Style (7th edition)

  • Ewing, Gabriel. Knowledge Transfer from Expert Demonstrations in Continuous State-Action Spaces. 2018. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1512748071082221.

    MLA Style (8th edition)

  • Ewing, Gabriel. "Knowledge Transfer from Expert Demonstrations in Continuous State-Action Spaces." Master's thesis, Case Western Reserve University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1512748071082221

    Chicago Manual of Style (17th edition)

case1512748071082221
214
© 2017, some rights reserved.Creative Commons License Knowledge Transfer from Expert Demonstrations in Continuous State-Action Spaces by Gabriel Ewing is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.