Public articles linked to the same research event.
arXiv The authors propose BVER, a bidirectional curriculum inspired by bidirectional RRT planning that grows start states outward from the goal and goals outward from the initial state distribution, biases both toward unexplored task space with Voronoi bias, and steers them toward each other, training one goal-conditioned policy on both; on point-mass mazes, quadrupedal box climbing, and robot-arm ring-on-peg transfer it learns faster than all compared reference-free curricula, reaches 95% success on a 0.4 m box in roughly 65% fewer iterations, is the only one of them to learn a 0.7 m box, and approaches the sample efficiency of reference-based curricula on the 0.4 m box and ring-on-peg transfer without a demonstration.
The authors propose BVER, a bidirectional curriculum inspired by bidirectional RRT planning that grows start states outward from the goal and goals outward from the initial state distribution, biases both toward unexplored task space with Voronoi bias, and steers them toward each other, training one goal-conditioned policy on both; on point-mass mazes, quadrupedal box climbing, and robot-arm ring-on-peg transfer it learns faster than all compared reference-free curricula, reaches 95% success on a 0.4 m box in roughly 65% fewer iterations, is the only one of them to learn a 0.7 m box, and approaches the sample efficiency of reference-based curricula on the 0.4 m box and ring-on-peg transfer without a demonstration.
The authors propose BVER, a bidirectional curriculum inspired by bidirectional RRT planning that grows start states outward from the goal and goals outward from the initial state distribution, biases both toward unexplored task space with Voronoi bias, and steers them toward each other, training one goal-conditioned policy on both; on point-mass mazes, quadrupedal box climbing, and robot-arm ring-on-peg transfer it learns faster than all compared reference-free curricula, reaches 95% success on a 0.4 m box in roughly 65% fewer iterations, is the only one of them to learn a 0.7 m box, and approaches the sample efficiency of reference-based curricula on the 0.4 m box and ring-on-peg transfer without a demonstration.
The authors propose BVER, a bidirectional curriculum inspired by bidirectional RRT planning that grows start states outward from the goal and goals outward from the initial state distribution, biases both toward unexplored task space with Voronoi bias, and steers them toward each other, training one goal-conditioned policy on both; on point-mass mazes, quadrupedal box climbing, and robot-arm ring-on-peg transfer it learns faster than all compared reference-free curricula, reaches 95% success on a 0.4 m box in roughly 65% fewer iterations, is the only one of them to learn a 0.7 m box, and approaches the sample efficiency of reference-based curricula on the 0.4 m box and ring-on-peg transfer without a demonstration.