Learning Exploration Strategies to Solve Real-World Marble Runs
Alisa Allaire,Christopher G. Atkeson,Alisa Allaire,Christopher G. Atkeson
Tasks involving locally unstable or discontinuous dynamics (such as bifurcations and collisions) remain challenging in robotics, because small variations in the environment can have a significant impact on task outcomes. For such tasks, learning a robust deterministic policy is difficult. We focus on structuring exploration with multiple stochastic policies based on a mixture of experts (MoE) poli...
