Human-Guided Robot Behavior Learning: A GAN-Assisted Preference-Based Reinforcement Learning Approach

Abstract

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many behaviors are difficult for humans to demonstrate. A more practical approach is to replace human demonstrations by human queries, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i.e.,</i> preference-based reinforcement learning. One key limitation of the existing algorithms is the need for a significant amount of human queries because a large number of labeled data is needed to train neural networks for the approximation of a continuous, high-dimensional reward function. To reduce and minimize the need for human queries, we propose a new GAN-assisted human preference-based reinforcement learning approach that uses a generative adversarial network (GAN) to learn human preferences and then replace the role of human in assigning preferences. The adversarial neural network is simple and only has a binary output, hence requiring much less human queries to train. Moreover, a maximum entropy based reinforcement learning algorithm is designed to shape the loss towards the desired regions or away from the undesired regions. To show the effectiveness of the proposed approach, we present some studies on complex robotic tasks without access to the environment reward in a typical MuJoCo robot locomotion environment. The obtained results show our method can achieve a reduction of about 99.8% human time without performance sacrifice.