Intrinsic Robotic Introspection: Learning Internal States From Neuron Activations
Abstrak
We present an introspective framework inspired by the process of how humans perform introspection. Our working assumption is that neural network activations encode information, and building internal states from these activations can improve the performance of an actor-critic model. We perform experiments where we first train a Variational Autoencoder model to reconstruct the activations of a feature extraction network and use the latent space to improve the performance of an actor-critic when deciding which low-level robotic behaviour to execute. We show that internal states reduce the number of episodes needed by about 1300 episodes while training an actor-critic, denoting faster convergence to get a high success value while completing a robotic task.
Penulis (4)
Nikos Pitsillos
Ameya Pore
Bjorn Sand Jensen
Gerardo Aragon-Camarasa
Akses Cepat
- Tahun Terbit
- 2020
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓