Hierarchical Reinforcement Learning for Sequencing Behaviors

by   Hadi Salman, et al.

Recent literature in the robot learning community has focused on learning robot skills that abstract out lower-level details of robot control, such as Dynamic Movement Primitives (DMPs), the options framework in hierarchical RL, and subtask policies. To fully leverage the efficacy of these macro actions, it is necessary to then sequence these primitives to achieve a given task. Our objective is to jointly learn a set of robot skills and a sequence of these learnt skills to accomplish a given task. We consider the task of navigating a robot across various environments using visual input, maximizing the distance traveled through the environment while avoiding static obstacles. Traditional planning methods to solve this problem rely on hand-crafted state representations and heuristics for planning, and often fail to generalize. In contrast, deep neural networks have proved to be powerful function approximators, successfully modeling complex control policies. In addition, the ability of such networks to learn good representations of high-dimensional sensory inputs makes them a valuable tool when dealing with visual inputs. In this project, we explore the capability of deep neural networks to learn and sequence robot skills for navigation, directly using visual input.


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