SLIM: Skill Learning with Multiple Critics
David Emukpere,Bingbing Wu,Julien Perez,Jean-Michel Renders,David Emukpere,Bingbing Wu,Julien Perez,Jean-Michel Renders
Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle in the context of robotic manipulation. As it requires impacting a possibly large set of degrees of freedom composing the environment, mutual information maxim...
