计算机工程与应用2019，Vol.55Issue(4)：17-30,14.DOI:10.3778/j.issn.1002-8331.1810-0007
模仿学习方法综述及其在机器人领域的应用
Review of Imitation Learning Methods and Its Application in Robotics
李帅龙 1张会文 2周维佳3
作者信息
- 1. 中国科学院沈阳自动化研究所 机器人学国家重点实验室,沈阳 110016
- 2. 中国科学院 机器人与智能制造创新研究院,沈阳 110016
- 3. 中国科学院大学,北京 100049
- 折叠
摘要
Abstract
Imitation Learning(IL)has always been a research hotspot in the field of artificial intelligence. Imitation learning is a kind of method that reconstructs desired policies based on expert demonstrations. This method has been combined with methods such as reinforcement learning in theoretical research, and has achieved important results. In practical appli-cations, especially in the complex environment of robots and other agents, imitation learning has achieved good results. This paper elaborates the research and application of imitation learning about robotics. Firstly, theoretical knowledge related to imitation learning is introduced. Secondly, two main methods of imitation learning are studied:Behavioral Cloning (BC)method and Inverse Reinforcement Learning(IRL)method. Thirdly, the successful applications of imitation learning are summarized. Finally, it is necessary to summarize the current problems and challenges and look forward to the future development trend.关键词
人工智能/行为克隆/逆强化学习/模仿学习Key words
artificial intelligence/ behavioral cloning/ inverse reinforcement learning/ imitation learning分类
信息技术与安全科学引用本文复制引用
李帅龙,张会文,周维佳..模仿学习方法综述及其在机器人领域的应用[J].计算机工程与应用,2019,55(4):17-30,14.
