Self-Imitation Learning by Planning
Sha Luo Hamidreza Kasaei Lambert Schomaker Sha Luo Hamidreza Kasaei Lambert Schomaker
Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a challenging problem in deploying IL and RL methods is how to generate and collect massive, broadly distributed data such that these methods can generalize effectively. I...