Representation Matters: Improving Perception and Exploration for Robotics
Markus Wulfmeier Arunkumar Byravan Tim Hertweck Irina Higgins Ankush Gupta Tejas Kulkarni Malcolm Reynolds Denis Teplyashin Roland Hafner Thomas Lampe Martin Riedmiller Markus Wulfmeier Arunkumar Byravan Tim Hertweck Irina Higgins Ankush Gupta Tejas Kulkarni Malcolm Reynolds Denis Teplyashin Roland Hafner Thomas Lampe Martin Riedmiller
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. Can a single generally useful representation be found? In order to answer this question, it is important to understand how the representation will be used by the agent and what prope...