  In this paper, We Apply Reinforcement learning (RL) techniques to train a
realistic biomechanical model to work with different people and on different
walking environments. We benchmarking 3 RL algorithms: Deep Deterministic
Policy Gradient (DDPG), Trust Region Policy Optimization (TRPO) and Proximal
Policy Optimization (PPO) in OpenSim environment, Also we apply imitation
learning to a prosthetics domain to reduce the training time needed to design
customized prosthetics. We use DDPG algorithm to train an original expert
agent. We then propose a modification to the Dataset Aggregation (DAgger)
algorithm to reuse the expert knowledge and train a new target agent to
replicate that behaviour in fewer than 5 iterations, compared to the 100
iterations taken by the expert agent which means reducing training time by 95%.
Our modifications to the DAgger algorithm improve the balance between
exploiting the expert policy and exploring the environment. We show empirically
that these improve convergence time of the target agent, particularly when
there is some degree of variation between expert and naive agent.
