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实体 Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills

Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills

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  1. TOOL · CL_188734 ·

    调查发现,机器人学习分为固定权重与自改进代码两大类

    一篇新的调查论文将机器人学习分为两种主要方法:一种是将能力嵌入固定的神经网络权重中,另一种是生成和优化可执行的技能代码。该论文引入了一个分类法,根据代码策略的自改进程度对其进行映射,范围从简单的程序合成到涉及执行反馈、记忆和进化搜索的复杂循环。论文强调,只有少数近期系统,如 ASPIRE、ENPIRE 和 RoboClaw,实现了这种完整的自改进循环,并讨论了机器人新兴的技能经济,指出了当前静态技能市场的局限性。