[3E1-GS-10] AI application:

[3E1-GS-10-05] Industrial Plant Automation with Behavioral Cloning and Its Calibration

〇Takehiro Katashima¹, Takashi Mizuno¹, Tomonori Izumitani¹, Daigo Fujiwara¹ (1. NTT Communications Corporation)

Keywords:control, imitation learning

Behavioral cloning, a branch of imitation learning, has been attracting attention as a method for learning control laws from the demonstrations of experts in complex systems that are difficult to control using rule-based methods, such as autonomous driving and robot arm control. On the other hand, behavioral cloning has a significant challenge of vulnerability to covariate shift: performance degradation due to states that are not included in demonstrations. In this study, we propose a method of adding P-control-based calibration to the control input by behavioral cloning. Numerical experiments using a continuous stirred tank reactor (CSTR) model were conducted to confirm the behavioral cloning problem under covariate shift and to verify the effect of the P-control-based calibration.