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arXiv · 1906.03710

Curiosity-Driven Multi-Criteria Hindsight Experience Replay

John B. Lanier·Stephen McAleer·Pierre Baldi
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Abstract

Dealing with sparse rewards is a longstanding challenge in reinforcement learning. The recent use of hindsight methods have achieved success on a variety of sparse-reward tasks, but they fail on complex tasks such as stacking multiple blocks with a robot arm in simulation. Curiosity-driven exploration using the prediction error of a learned dynamics model as an intrinsic reward has been shown to be effective for exploring a number of sparse-reward environments. We present a method that combines hindsight with curiosity-driven exploration and curriculum learning in order to solve the challenging sparse-reward block stacking task. We are the first to stack more than two blocks using only sparse reward without human demonstrations.

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John B. Lanier, Stephen McAleer, Pierre Baldi. 2019-06-09. Curiosity-Driven Multi-Criteria Hindsight Experience Replay. https://arxiv.org/abs/1906.03710

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