{"paper":{"title":"Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Aleksandar Taranovic, Gerhard Neumann, Onur Celik","submitted_at":"2024-03-11T17:49:18Z","abstract_excerpt":"Reinforcement learning (RL) is a powerful approach for acquiring a good-performing policy. However, learning diverse skills is challenging in RL due to the commonly used Gaussian policy parameterization. We propose \\textbf{Di}verse \\textbf{Skil}l \\textbf{L}earning (Di-SkilL\\footnote{Videos and code are available on the project webpage: \\url{https://alrhub.github.io/di-skill-website/}}), an RL method for learning diverse skills using Mixture of Experts, where each expert formalizes a skill as a contextual motion primitive. Di-SkilL optimizes each expert and its associate context distribution to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.06966","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.06966/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}