  There is a recent surge in interest for imitation learning, with large human
video-game and robotic manipulation datasets being used to train agents on very
complex tasks. While deep neuroevolution has recently been shown to match the
performance of gradient-based techniques on various reinforcement learning
problems, the application of deep neuroevolution techniques to imitation
learning remains relatively unexplored. In this work, we propose to explore
whether deep neuroevolution can be used for behaviour imitation on popular
simulation environments. We introduce a simple co-evolutionary adversarial
generation framework, and evaluate its capabilities by evolving standard deep
recurrent networks to imitate state-of-the-art pre-trained agents on 8 OpenAI
Gym state-based control tasks. Across all tasks, we find the final elite actor
agents capable of achieving scores as high as those obtained by the pre-trained
agents, all the while closely following their score trajectories. Our results
suggest that neuroevolution could be a valuable addition to deep learning
techniques to produce accurate emulation of behavioural agents. We believe that
the generality and simplicity of our approach opens avenues for imitating
increasingly complex behaviours in increasingly complex settings, e.g. human
behaviour in real-world settings. We provide our source code, model checkpoints
and results at github.com/MaximilienLC/gane.
