Implementation method of deep sea fine remote control task based on imitation learning

The invention relates to an implementation method of a deep sea fine remote manipulation task based on imitation learning. According to the implementation method of the deep sea fine remote manipulation task based on imitation learning, virtual manipulation data are used as a teaching example, a reinforcement learning algorithm not based on a model is applied, a manipulation strategy which can be migrated to an actual scene and has certain robustness and generalization ability is trained in a simulation environment, therefore, the technical difficulty of deep sea fine remote manipulation is reduced, and the intelligent degree of deep sea operation is improved. 本发明涉及一种基于模仿学习的深海精细遥操纵任务的实现方法。本发明提供的一种基于模仿学习的深海精细操纵任务的实现方法，将虚拟操纵数据作为示教范例，应用不基于模型的强化学习算法，在仿真环境中训练出一个可迁移到实际场景的具有一定鲁棒性和泛化能力的操纵策略，从而降低深海精细遥操纵的技术难度，提升深海作业的智能化程度。