BriefGPT.xyz
Nov, 2020
表征至关重要: 提高机器人感知和探索能力
Representation Matters: Improving Perception and Exploration for Robotics
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Markus Wulfmeier, Arunkumar Byravan, Tim Hertweck, Irina Higgins, Ankush Gupta...
TL;DR
本文在三个机器人任务中系统评估了多种常见的学习和手工工程化表示方法,并从三个方面对每种表现方法进行评估,即维度,可观测性和分离度,发现在输入代理或作为辅助任务的情况下,可以显著提高性能,并挑战了什么是控制机器人'好'表示的见解。
Abstract
Projecting high-dimensional environment observations into lower-dimensional structured representations can considerably improve data-efficiency for
reinforcement learning
in domains with limited data such as
robotics
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