Contact Energy Based Hindsight Experience Prioritization
Erdi Sayar,Zhenshan Bing,Carlo D’Eramo,Ozgur S. Oguz,Alois Knoll,Erdi Sayar,Zhenshan Bing,Carlo D’Eramo,Ozgur S. Oguz,Alois Knoll
Multi-goal robot manipulation tasks with sparse rewards are difficult for reinforcement learning (RL) algorithms due to the inefficiency in collecting successful experiences. Recent algorithms such as Hindsight Experience Replay (HER) expedite learning by taking advantage of failed trajectories and replacing the desired goal with one of the achieved states so that any failed trajectory can be util...
