Curriculum Learning with Hindsight Experience Replay for Sequential Object Manipulation Tasks

08/21/2020
by   Binyamin Manela, et al.
0

Learning complex tasks from scratch is challenging and often impossible for humans as well as for artificial agents. A curriculum can be used instead, which decomposes a complex task (target task) into a sequence of source tasks (the curriculum). Each source task is a simplified version of the next source task with increasing complexity. Learning then occurs gradually by training on each source task while using knowledge from the curriculum's prior source tasks. In this study, we present a new algorithm that combines curriculum learning with Hindsight Experience Replay (HER), to learn sequential object manipulation tasks for multiple goals and sparse feedback. The algorithm exploits the recurrent structure inherent in many object manipulation tasks and implements the entire learning process in the original simulation without adjusting it to each source task. We have tested our algorithm on three challenging throwing tasks and show vast improvements compared to vanilla-HER.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
01/12/2020

Deep Reinforcement Learning for Complex Manipulation Tasks with Sparse Feedback

Learning optimal policies from sparse feedback is a known challenge in r...
research
05/17/2019

MaMiC: Macro and Micro Curriculum for Robotic Reinforcement Learning

Shaping in humans and animals has been shown to be a powerful tool for l...
research
08/05/2020

Follow the Object: Curriculum Learning for Manipulation Tasks with Imagined Goals

Learning robot manipulation through deep reinforcement learning in envir...
research
03/14/2023

Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum

In-hand object manipulation is challenging to simulate due to complex co...
research
12/23/2019

Towards Practical Multi-Object Manipulation using Relational Reinforcement Learning

Learning robotic manipulation tasks using reinforcement learning with sp...
research
02/11/2022

Cyclical Curriculum Learning

Artificial neural networks (ANN) are inspired by human learning. However...
research
06/08/2021

Coarse-to-Fine Curriculum Learning

When faced with learning challenging new tasks, humans often follow sequ...

Please sign up or login with your details

Forgot password? Click here to reset