Journal
2022 8TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT'22)
Volume -, Issue -, Pages 165-170Publisher
IEEE
DOI: 10.1109/CODIT55151.2022.9804118
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Funding
- Royal Academy of Engineering
- Office of the Chief Science Adviser for National Security under the UK Intelligence Community Postdoctoral Research Fellowship programme
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In this paper, a cost inference algorithm for discrete-time systems using human-behaviour learning is proposed. The approach is inspired in the complementary learning that exhibits the neocortex, hippocampus, and striatum learning systems to achieve complex decision making. The main objective is to infer the hidden cost function from expert's data associated to the hippocampus (off-policy data) and transfer it to the neocortex for policy generalization (on-policy data) in different systems and environments. The neocortex is modelled by a Qlearning and a least-squares identification algorithms for onpolicy learning and system identification. The cost inference is obtained using a one-step gradient descent rule and an inverse optimal control algorithm. Convergence of the cost inference algorithm is discussed using Lyapunov recursions. Simulations verify the effectiveness of the approach.
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