Dr Matthew Studley Matthew2.Studley@uwe.ac.uk
Professor of Ethics & Technology/School Director (Research & Enterprise)
Achieving goals using reward shaping and curriculum learning
Studley, Matthew; hansen, mark; anca, mihai; thomas, johnathan; pedamonti, dabal
Authors
Mark Hansen Mark.Hansen@uwe.ac.uk
Professor of Machine Vision and Machine Learning
mihai anca
johnathan thomas
dabal pedamonti
Abstract
Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite these advances, solving goal oriented tasks still requires complex architectural changes or hard constraints to be placed on the problem. In this article, we solve the problem of stacking multiple cubes by combining curriculum learning, reward shaping, and a high number of efficiently parallelized environments. We introduce two curriculum learning settings that allow us to separate the complex task into sequential sub-goals, hence enabling the learning of a problem that may otherwise be too difficult. We focus on discussing the challenges encountered while implementing them in a goal-conditioned environment. Finally, we extend the best configuration identified on a higher complexity environment with differently shaped objects.
Citation
Studley, M., hansen, M., anca, M., thomas, J., & pedamonti, D. (2023, November). Achieving goals using reward shaping and curriculum learning. Paper presented at Future Technologies Conference, San Francisco
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | Future Technologies Conference |
Conference Location | San Francisco |
Start Date | Nov 2, 2023 |
End Date | Nov 3, 2023 |
Deposit Date | May 16, 2023 |
Publicly Available Date | Mar 29, 2024 |
Series Title | Lecture Notes in Networks and Systems |
Keywords | reinforcement learning, curriculum learning, reward shaping, robotics |
Public URL | https://uwe-repository.worktribe.com/output/10792709 |
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