Hybrid Adversarial Imitation Learning.

Extrapolating beyond-demonstrator (BD) performance through the imitation learning (IL) algorithm aims to learn from and outperform the demonstrator. Most existing BDIL algorithms are performed in two stages by first inferring a reward function before learning a policy via reinforcement learning (RL). However, such two-stage BDIL algorithms suffer from high computational complexity, weak robustness, and large performance variations. In particular, a poor reward function derived in the first stage will inevitably incur severe performance loss in the second stage. In this work, we propose a hybrid adversarial imitation learning (HAIL) algorithm that is one-stage, model-free, generative-adversarial (GA) fashion and curiosity-driven. Thanks to the one-stage design, the HAIL can integrate both the reward function learning and the policy optimization into one procedure, which leads to many advantages such as low computational complexity, high robustness, and strong adaptability. More specifically, HAIL simultaneously imitates the demonstrator and explores BD performance by utilizing hybrid rewards. Extensive simulation results confirm that HAIL can achieve higher performance as compared to other similar BDIL algorithms.