In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can be achieved through behavioral cloning or by learning a reward function, i.e., inverse reinforcement learning. The latter allows for training with additional data outside the training distribution, guided by the inferred reward function. We propose a novel approach to construct compact and transparent reward models from automatically selected state features. These inferred rewards have an explicit form and enable the learning of policies that closely match expert behavior by training standard reinforcement learning algorithms from scratch. We validate our method’s performance in various robotic environments with continuous and high-dimensional state spaces.

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