# Exploration-efficient Deep Reinforcement Learning with Demonstration Guidance for Robot Control

arXiv: https://arxiv.org/abs/2002.12089 · HTML: https://mlsanity.com/paper/2002.12089/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Feb 2020.

## Built on by (most cited first, 1 of 1)

- [Efficiently Training On-Policy Actor-Critic Networks in Robotic Deep Reinforcement Learning with Demonstration-like Sampled Exploration](https://mlsanity.com/paper/2109.13005/) (2021)

## Abstract (arXiv)

Although deep reinforcement learning (DRL) algorithms have made important achievements in many control tasks, they still suffer from the problems of sample inefficiency and unstable training process, which are usually caused by sparse rewards. Recently, some reinforcement learning from demonstration (RLfD) methods have shown to be promising in overcoming these problems. However, they usually require considerable demonstrations. In order to tackle these challenges, on the basis of the SAC algorithm we propose a sample efficient DRL-EG (DRL with efficient guidance) algorithm, in which a discriminator D(s) and a guider G(s) are modeled by a small number of expert demonstrations. The discriminator will determine the appropriate guidance states and the guider will guide agents to better exploration in the training phase. Empirical evaluation results from several continuous control tasks verify the effectiveness and performance improvements of our method over other RL and RLfD counterparts. Experiments results also show that DRL-EG can help the agent to escape from a local optimum.