A three-stage grasping-picking-stacking curriculum with a redesigned reward reduces training time by about 40 percent and improves block-stacking success by roughly 10 percent over direct learning in the CausalWorld simulator.
The default learning rate of 1e-4, as provided by the baseline, is used for all pre-training phases in the curriculum
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Knowledge capture, adaptation and composition (KCAC): A framework for cross-task curriculum learning in robotic manipulation
A three-stage grasping-picking-stacking curriculum with a redesigned reward reduces training time by about 40 percent and improves block-stacking success by roughly 10 percent over direct learning in the CausalWorld simulator.