# An Imitative Reinforcement Learning Framework for Pursuit-Lock-Launch Missions

arXiv: https://arxiv.org/abs/2406.11562 · HTML: https://mlsanity.com/paper/2406.11562/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in RL for robot navigation and UAV control, one of 15 directions in Deep reinforcement learning methods.
- Builds on 15 of its 46 references that are in the map.
- First posted on arXiv 17 Jun 2024.

## Placed in

- Deep reinforcement learning methods / [RL for robot navigation and UAV control](https://mlsanity.com/deeprl/rl-for-robot-navigation-and-uav-control/)

## Builds on (most cited first, 15 of 15)

- [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)
- [Asynchronous Methods for Deep Reinforcement Learning](https://mlsanity.com/paper/1602.01783/) (2016)
- [Deep Reinforcement Learning with Double Q-learning](https://mlsanity.com/paper/1509.06461/) (2015)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://mlsanity.com/paper/1706.02275/) (2017)
- [A Minimalist Approach to Offline Reinforcement Learning](https://mlsanity.com/paper/2106.06860/) (2021)
- [Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning](https://mlsanity.com/paper/1609.05143/) (2016)
- [A Survey of Inverse Reinforcement Learning: Challenges, Methods and Progress](https://mlsanity.com/paper/1806.06877/) (2018)
- [Error Bounds of Imitating Policies and Environments](https://mlsanity.com/paper/2010.11876/) (2020)
- [Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigation](https://mlsanity.com/paper/1709.10489/) (2017)
- [MetaTrader: An Reinforcement Learning Approach Integrating Diverse Policies for Portfolio Optimization](https://mlsanity.com/paper/2210.01774/) (2022)
- [IMM: An Imitative Reinforcement Learning Approach with Predictive Representation Learning for Automatic Market Making](https://mlsanity.com/paper/2308.08918/) (2023)
- [Harfang3D Dog-Fight Sandbox: A Reinforcement Learning Research Platform for the Customized Control Tasks of Fighter Aircrafts](https://mlsanity.com/paper/2210.07282/) (2022)

## Abstract (arXiv)

Unmanned Combat Aerial Vehicle (UCAV) Within-Visual-Range (WVR) engagement, referring to a fight between two or more UCAVs at close quarters, plays a decisive role on the aerial battlefields. With the development of artificial intelligence, WVR engagement progressively advances towards intelligent and autonomous modes. However, autonomous WVR engagement policy learning is hindered by challenges such as weak exploration capabilities, low learning efficiency, and unrealistic simulated environments. To overcome these challenges, we propose a novel imitative reinforcement learning framework, which efficiently leverages expert data while enabling autonomous exploration. The proposed framework not only enhances learning efficiency through expert imitation, but also ensures adaptability to dynamic environments via autonomous exploration with reinforcement learning. Therefore, the proposed framework can learn a successful policy of `pursuit-lock-launch' for UCAVs. To support data-driven learning, we establish an environment based on the Harfang3D sandbox. The extensive experiment results indicate that the proposed framework excels in this multistage task, and significantly outperforms state-of-the-art reinforcement learning and imitation learning methods. Thanks to the ability of imitating experts and autonomous exploration, our framework can quickly learn the critical knowledge in complex aerial combat tasks, achieving up to a 100% success rate and demonstrating excellent robustness.