Generalizing Skills with Semi-Supervised Reinforcement Learning.md

Generalizing Skills with Semi-Supervised Reinforcement Learning

Chelsea Finn, Tianhe Yu, Justin Fu, Pieter Abbeel, Sergey Levine

keypoints

• Train RL agent under reward MDPs and no-reward MDPs
• for no-reward MDPs: using guided cost learning (finn. 2016)
  • IRL: re-optimizing policy under novel environment (allow interaction with no-reward MDPs)
• for RL: using guided policy search; for IRL: using guided cost learning

related to IRL

• ill-defined problem: no exact solution. There are many reward functions can explain optimal policy.
• suffer reward ambiguity