Algorithms For IRL

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1

0.5

−0.5

−1

−1.5
1

2 5

3 4
3
4
2
5 1

1.2

0.8
1
0.6

0.8 0.4

0.2
0.6
0
0.4
−0.2
1
0.2 2 5

3 4
0 3
1 4
2
2 5 5 1

3 4
3
4
2
5 1
−2.5063

−2.5063

−2.5064

−2.5064

Fitted Reward
Goal
−2.5065

−2.5065

−2.5065

−2.5066

−2.5067
−1.2 −1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6
car’s x−position
3

Fitted Reward
0

−1

−2

−3
−1.2 −1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6
car’s x−position
0.8

Fraction of states on which actions disagree


0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25
Iteration number
7

5
Value of policy

0
0 5 10 15 20 25
Iteration number

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