Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation

27 Jul 2020Zhenshan BingMatthias BruckerFabrice O. MorinKai HuangAlois Knoll

Reinforcement learning algorithms such as hindsight experience replay (HER) and hindsight goal generation (HGG) have been able to solve challenging robotic manipulation tasks in multi-goal settings with sparse rewards. HER achieves its training success through hindsight replays of past experience with heuristic goals, but under-performs in challenging tasks in which goals are difficult to explore... (read more)

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