# Learning Complicated Manipulation Skills via Deterministic Policy with Limited Demonstrations

arXiv: https://arxiv.org/abs/2303.16469 · HTML: https://mlsanity.com/paper/2303.16469/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 33 references that are in the map.
- First posted on arXiv 29 Mar 2023.

## Builds on (most cited first, 22 of 22)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems](https://mlsanity.com/paper/2005.01643/) (2020)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [D4RL: Datasets for Deep Data-Driven Reinforcement Learning](https://mlsanity.com/paper/2004.07219/) (2020)
- [Off-Policy Deep Reinforcement Learning without Exploration](https://mlsanity.com/paper/1812.02900/) (2018)
- [Soft Actor-Critic Algorithms and Applications](https://mlsanity.com/paper/1812.05905/) (2018)
- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)
- [Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction](https://mlsanity.com/paper/1906.00949/) (2019)
- [Deep Reinforcement Learning for Autonomous Driving: A Survey](https://mlsanity.com/paper/2002.00444/) (2020)
- [Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations](https://mlsanity.com/paper/1709.10087/) (2017)
- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [Behavior Regularized Offline Reinforcement Learning](https://mlsanity.com/paper/1911.11361/) (2019)
- [Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates](https://mlsanity.com/paper/1610.00633/) (2016)
- [Exploring the Limitations of Behavior Cloning for Autonomous Driving](https://mlsanity.com/paper/1904.08980/) (2019)
- [Overcoming Exploration in Reinforcement Learning with Demonstrations](https://mlsanity.com/paper/1709.10089/) (2017)
- [Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards](https://mlsanity.com/paper/1707.08817/) (2017)
- [Challenges of Real-World Reinforcement Learning](https://mlsanity.com/paper/1904.12901/) (2019)
- [Query-Efficient Imitation Learning for End-to-End Autonomous Driving](https://mlsanity.com/paper/1605.06450/) (2016)
- [Tractable Inference for Complex Stochastic Processes](https://mlsanity.com/paper/1301.7362/) (2013)
- [Policy Learning Using Weak Supervision](https://mlsanity.com/paper/2010.01748/) (2020)

## Built on by (most cited first, 2 of 2)

- [URPlanner: A Universal Paradigm For Collision-Free Robotic Motion Planning Based on Deep Reinforcement Learning](https://mlsanity.com/paper/2505.20175/) (2025)
- [Residual Reward Models: Leveraging Prior Knowledge for Efficient Preference-based Reinforcement Learning in Robotics](https://mlsanity.com/paper/2507.00611/) (2025)

## Abstract (arXiv)

Combined with demonstrations, deep reinforcement learning can efficiently develop policies for manipulators. However, it takes time to collect sufficient high-quality demonstrations in practice. And human demonstrations may be unsuitable for robots. The non-Markovian process and over-reliance on demonstrations are further challenges. For example, we found that RL agents are sensitive to demonstration quality in manipulation tasks and struggle to adapt to demonstrations directly from humans. Thus it is challenging to leverage low-quality and insufficient demonstrations to assist reinforcement learning in training better policies, and sometimes, limited demonstrations even lead to worse performance. We propose a new algorithm named TD3fG (TD3 learning from a generator) to solve these problems. It forms a smooth transition from learning from experts to learning from experience. This innovation can help agents extract prior knowledge while reducing the detrimental effects of the demonstrations. Our algorithm performs well in Adroit manipulator and MuJoCo tasks with limited demonstrations.