Bidirectional Progressive Neural Networks with Episodic Return Progress for Emergent Task Sequencing and Robotic Skill Transfer

arXiv:2403.04001v1 Announce Type: cross
Abstract: Human brain and behavior provide a rich venue that can inspire novel control and learning methods for robotics. In an attempt to exemplify such a development by inspiring how humans acquire knowledge and transfer skills among tasks, we introduce a novel multi-task reinforcement learning framework named Episodic Return Progress with Bidirectional Progressive Neural Networks (ERP-BPNN). The proposed ERP-BPNN model (1) learns in a human-like interleaved manner by (2) autonomous task switching based on a novel …

abstract arxiv behavior brain control cs.ai cs.lg cs.ro development human humans knowledge networks neural networks novel progress robotic robotics sequencing skills tasks transfer type