Khái niệm cốt lõi
SLIMは、ロボット操作のスキル発見において複数の評価者を活用する新しいアプローチを紹介します。
Thống kê
"Latent variable models, based on mutual information maximization, have been successful in this task but still struggle in the context of robotic manipulation."
"We introduce SLIM, a multi-critic learning approach for skill discovery with a particular focus on robotic manipulation."
Trích dẫn
"Our main insight is that utilizing multiple critics in an actor-critic framework to gracefully combine multiple reward functions leads to a significant improvement in latent-variable skill discovery for robotic manipulation while overcoming possible interference occurring among rewards which hinders convergence to useful skills."