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This paper proposes Cooperative and competitive Reinforcement And Imitation Learning (CRAIL) for selecting an appropriate policy from a set of multiple heterogeneous modules and training all of them in parallel. Each learning module has its own network architecture and improves the policy based on an off-policy reinforcement learning algorithm and behavior cloning from samples collected by a behavior policy that is constructed by a combination of all the policies. Since the mixing weights are determined by the performance of the module, a better policy is automatically selected based on the learning progress. Experimental results on a benchmark control task show that CRAIL successfully achieves fast learning by allowing modules with complicated network structures to exploit task-relevant samples for training.

Cooperative and Competitive Reinforcement and Imitation Learning for a Mixture of Heterogeneous Learning Modules