DropoutDAgger: A Bayesian Approach to Safe Imitation Learning
September 18, 2017 Β· Declared Dead Β· π arXiv.org
"No code URL or promise found in abstract"
Evidence collected by the PWNC Scanner
Authors
Kunal Menda, Katherine Driggs-Campbell, Mykel J. Kochenderfer
arXiv ID
1709.06166
Category
cs.AI: Artificial Intelligence
Cross-listed
cs.RO
Citations
32
Venue
arXiv.org
Last Checked
4 months ago
Abstract
While imitation learning is becoming common practice in robotics, this approach often suffers from data mismatch and compounding errors. DAgger is an iterative algorithm that addresses these issues by continually aggregating training data from both the expert and novice policies, but does not consider the impact of safety. We present a probabilistic extension to DAgger, which uses the distribution over actions provided by the novice policy, for a given observation. Our method, which we call DropoutDAgger, uses dropout to train the novice as a Bayesian neural network that provides insight to its confidence. Using the distribution over the novice's actions, we estimate a probabilistic measure of safety with respect to the expert action, tuned to balance exploration and exploitation. The utility of this approach is evaluated on the MuJoCo HalfCheetah and in a simple driving experiment, demonstrating improved performance and safety compared to other DAgger variants and classic imitation learning.
Community Contributions
Found the code? Know the venue? Think something is wrong? Let us know!
π Similar Papers
In the same crypt β Artificial Intelligence
π
π
The Cartographer
R.I.P.
π»
Ghosted
Explanation in Artificial Intelligence: Insights from the Social Sciences
R.I.P.
π»
Ghosted
Federated Machine Learning: Concept and Applications
R.I.P.
π»
Ghosted
Counterfactual Explanations without Opening the Black Box: Automated Decisions and the GDPR
R.I.P.
π»
Ghosted
DeepAR: Probabilistic Forecasting with Autoregressive Recurrent Networks
R.I.P.
π»
Ghosted
Rainbow: Combining Improvements in Deep Reinforcement Learning
Died the same way β π» Ghosted
R.I.P.
π»
Ghosted
Federated Learning: Strategies for Improving Communication Efficiency
R.I.P.
π»
Ghosted
In-Datacenter Performance Analysis of a Tensor Processing Unit
R.I.P.
π»
Ghosted
Deep Convolutional Neural Networks for Computer-Aided Detection: CNN Architectures, Dataset Characteristics and Transfer Learning
R.I.P.
π»
Ghosted