Learning Diverse Skills for Local Navigation under Multi-constraint Optimality
Jin Cheng,Marin Vlastelica,Pavel Kolev,Chenhao Li,Georg Martius,Jin Cheng,Marin Vlastelica,Pavel Kolev,Chenhao Li,Georg Martius
Despite many successful applications of data-driven control in robotics, extracting meaningful diverse behaviors remains a challenge. Typically, task performance needs to be compromised in order to achieve diversity. In many scenarios, task requirements are specified as a multitude of reward terms, each requiring a different trade-off. In this work, we take a constrained optimization viewpoint on ...
