The invention relates to imitation learning by action shaping with antagonist reinforcement learning. A computer-implemented method, a computer program product, and a computer processing system are provided for obtaining a plurality of bad demonstrations. The method includes reading, by a processor device, a protagonist environment. The method further includes training, by the processor device, aplurality of antagonist agents to fail a task by reinforcement learning using the protagonist environment. The method also includes collecting, by the processor device, the plurality of bad demonstrations by playing the trained antagonist agents on the protagonist environment.
IMITATION LEARNING BY ACTION SHAPING WITH ANTAGONIST REINFORCEMENT LEARNING