Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles
Junior C. de Jesus,Victor A. Kich,Alisson H. Kolling,Ricardo B. Grando,Rodrigo S. Guerra,Paulo L. J. Drews,Junior C. de Jesus,Victor A. Kich,Alisson H. Kolling,Ricardo B. Grando,Rodrigo S. Guerra,Paulo L. J. Drews
Reinforcement Learning (RL) has presented an impressive performance in video games through raw pixel imaging and continuous control tasks. However, RL performs poorly with high-dimensional observations such as raw pixel images. It is generally accepted that physical state-based RL policies such as laser sensor measurements give a more sample-efficient result than learning by pixels. This work pres...
