论文标题
Composuite:构图增强学习基准测试
CompoSuite: A Compositional Reinforcement Learning Benchmark
论文作者
论文摘要
我们提出了Composuite,这是一种用于组成多任务增强学习(RL)的开源模拟机器人操纵基准。每个复合仪任务都需要特定的机器人组来操纵一个单独的对象,以实现一个任务目标,同时避免障碍物。该任务的这种组成定义赋予了Composuite具有两个非凡属性。首先,改变机器人/对象/客观/障碍元素会导致数百个RL任务,每个任务都需要有意义的不同行为。其次,可以专门评估RL方法,以了解其学习任务组成结构的能力。在功能上分解问题的后一个能力将使智能代理能够识别和利用学习任务之间的共同点,以处理大量高度多样化的问题。我们在各种培训环境中基准了现有的单项任务,多任务和组成学习算法,并评估其在构图上概括到看不见的任务的能力。我们的评估暴露了现有RL方法在组成性方面的缺点,并为调查开辟了新的途径。
We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a task objective while avoiding an obstacle. This compositional definition of the tasks endows CompoSuite with two remarkable properties. First, varying the robot/object/objective/obstacle elements leads to hundreds of RL tasks, each of which requires a meaningfully different behavior. Second, RL approaches can be evaluated specifically for their ability to learn the compositional structure of the tasks. This latter capability to functionally decompose problems would enable intelligent agents to identify and exploit commonalities between learning tasks to handle large varieties of highly diverse problems. We benchmark existing single-task, multi-task, and compositional learning algorithms on various training settings, and assess their capability to compositionally generalize to unseen tasks. Our evaluation exposes the shortcomings of existing RL approaches with respect to compositionality and opens new avenues for investigation.