A paired variational encoder-decoder separates common and body-specific control factors for two differently shaped agents, and the common factors are used as a reward signal to speed up training of the second agent.
Human-level control through deep reinforcement learning,
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Skill Transfer in Deep Reinforcement Learning under Morphological Heterogeneity
A paired variational encoder-decoder separates common and body-specific control factors for two differently shaped agents, and the common factors are used as a reward signal to speed up training of the second agent.