paper: (.ps) (.pdf)

supplements: extended versions of proofs, and an alternative interpretation of the projection algorithm .ps , .pdf )

Videos below illustrate the effectiveness of the inverse reinforcement learning approach for apprenticeship learning for car driving.

Driving Style |
Expert |
Learned Controller |
Both (Expert left, Learned right) |

1: Nice |
expert1.avi |
learnedcontroller1.avi |
joined1.avi |

2: Nasty |
expert2.avi |
learnedcontroller2.avi |
joined2.avi |

3: Right lane nice |
expert3.avi |
learnedcontroller3.avi |
joined3.avi |

4: Right lane nasty |
expert4.avi |
learnedcontroller4.avi |
joined4.avi |

5: Middle lane |
expert5.avi |
learnedcontroller5.avi |
joined5.avi |

last updated 04/21/2004