My Body is a Cage: the Role of Morphology in Graph-Based Incompatible Control
Vitaly Kurin; Maximilian Igl; Tim Rocktäschel; Wendelin Boehmer; Shimon Whiteson · 2020 · arXiv
WASTE classifies this as Negative / Null Result Report · AI classification, approximate
The study found no significant effect — useful as a negative control or null benchmark for your own design.
Abstract (excerpt)
Multitask Reinforcement Learning is a promising way to obtain models with better performance, generalisation, data efficiency, and robustness. Most existing work is limited to compatible settings, where the state and action space dimensions are the same across tasks. Graph Neural Networks (GNN) are one way to address incompatible environments, because they can process graphs of arbitrary size. They also allow practitioners to inject biases encoded in the structure of the input graph. Existing work in graph-based continuous control uses the physical morphology of the agent to construct the inpu
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Metadata source: arXiv