Residual Learning from Demonstration.
Published in arXiv preprint arXiv:2008.07682, 2020
Recommended citation: Davchev, T., Luck, K.S., Burke, M., Meier, F., Schaal, S. and Ramamoorthy, S., 2020. Residual Learning from Demonstration. arXiv preprint arXiv:2008.07682. https://arxiv.org/pdf/2008.07682.pdf
In this work we propose residual learning from demonstration (rLfD), a framework that combines dynamic movement primitives (DMP) that rely on behavioural cloning with a reinforcement learning (RL) based residual correction policy.