Affiliations: [a] School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China
| [b] School of Control Science and Engineering, Zhejiang University, Hangzhou, China
Correspondence:
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Corresponding author. Zhou Fang, School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China. E-mail: zfang@zju.edu.cn.
Abstract: Reusing knowledge obtained in other related but different tasks to accelerate the learning procedure of reinforcement learning (RL) has attracted more and more attention and expert knowledge transfer is the root cause of positive effect. Nevertheless, compared with acquiring knowledge by RL training in source tasks, this paper proposes to transfer knowledge contained in human-demonstrations of source tasks. Based on this, three specific forms of knowledge in total are mined from demonstration trajectories to be reused in the target task to shape RL and all of them are closely associated with the similarity between states of different tasks which can be measured by Euclidean distance via human-supplied inter-task mappings. In more detail, the similarity between the target state and the most similar state in source samples, the proportion of different actions among the k-NN of the target state in source samples and the proportion of different actions under a constant similarity with the target state in source samples are respectively selected to initialize the value of state-action function. Simulation experiments of mountain car problems with different difficulties and different dimensions suggest that all the three shaping methods could obviously speed up RL. In comparison, it can also be found that the two latter methods are more robust and efficient to the quality of human demonstrations as it takes more source samples’ information into consideration.
