Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Towards Practical Multi-Object Manipulation using Relational
  Reinforcement Learning   Learning robotic manipulation tasks using reinforcement learning with sparse
rewards is currently impractical due to the outrageous data requirements. Many
practical tasks require manipulation of multiple objects, and the complexity of
such tasks increases with the number of objects. Learning from a curriculum of
increasingly complex tasks appears to be a natural solution, but unfortunately,
does not work for many scenarios. We hypothesize that the inability of the
state-of-the-art algorithms to effectively utilize a task curriculum stems from
the absence of inductive biases for transferring knowledge from simpler to
complex tasks. We show that graph-based relational architectures overcome this
limitation and enable learning of complex tasks when provided with a simple
curriculum of tasks with increasing numbers of objects. We demonstrate the
utility of our framework on a simulated block stacking task. Starting from
scratch, our agent learns to stack six blocks into a tower. Despite using
step-wise sparse rewards, our method is orders of magnitude more data-efficient
and outperforms the existing state-of-the-art method that utilizes human
demonstrations. Furthermore, the learned policy exhibits zero-shot
generalization, successfully stacking blocks into taller towers and previously
unseen configurations such as pyramids, without any further training.

27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
2
The categories of this paper are: math
23
The categories of this paper are: solv-int
14
The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom
29
The categories of this paper are: funct-an
11
The categories of this paper are: hep-lat
15
The categories of this paper are: nucl-ex
32
The categories of this paper are: atom-ph
6
The categories of this paper are: astro-ph
19
The categories of this paper are: eess