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arXiv · 2010.09163

D2RL: Deep Dense Architectures in Reinforcement Learning

Samarth Sinha·Homanga Bharadhwaj·Aravind Srinivas·Animesh Garg
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Abstract

While improvements in deep learning architectures have played a crucial role in improving the state of supervised and unsupervised learning in computer vision and natural language processing, neural network architecture choices for reinforcement learning remain relatively under-explored. We take inspiration from successful architectural choices in computer vision and generative modelling, and investigate the use of deeper networks and dense connections for reinforcement learning on a variety of simulated robotic learning benchmark environments. Our findings reveal that current methods benefit significantly from dense connections and deeper networks, across a suite of manipulation and locomotion tasks, for both proprioceptive and image-based observations. We hope that our results can serve as a strong baseline and further motivate future research into neural network architectures for reinforcement learning. The project website with code is at this link https://sites.google.com/view/d2rl/home.

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Samarth Sinha, Homanga Bharadhwaj, Aravind Srinivas, Animesh Garg. 2020-11-27. D2RL: Deep Dense Architectures in Reinforcement Learning. https://arxiv.org/abs/2010.09163

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