Apprenticeship Learning via Inverse Reinforcement Learning, Pieter Abbeel, Andrew Ng (ICML 2004)
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

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last updated 04/21/2004