Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Transform2Act: Learning a Transform-and-Control Policy for Efficient
  Agent Design   An agent's functionality is largely determined by its design, i.e., skeletal
structure and joint attributes (e.g., length, size, strength). However, finding
the optimal agent design for a given function is extremely challenging since
the problem is inherently combinatorial and the design space is prohibitively
large. Additionally, it can be costly to evaluate each candidate design which
requires solving for its optimal controller. To tackle these problems, our key
idea is to incorporate the design procedure of an agent into its
decision-making process. Specifically, we learn a conditional policy that, in
an episode, first applies a sequence of transform actions to modify an agent's
skeletal structure and joint attributes, and then applies control actions under
the new design. To handle a variable number of joints across designs, we use a
graph-based policy where each graph node represents a joint and uses message
passing with its neighbors to output joint-specific actions. Using policy
gradient methods, our approach enables joint optimization of agent design and
control as well as experience sharing across different designs, which improves
sample efficiency substantially. Experiments show that our approach,
Transform2Act, outperforms prior methods significantly in terms of convergence
speed and final performance. Notably, Transform2Act can automatically discover
plausible designs similar to giraffes, squids, and spiders. Code and videos are
available at https://sites.google.com/view/transform2act.

23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
13
The categories of this paper are: quant-ph
37
The categories of this paper are: supr-con
31
The categories of this paper are: ao-sci
32
The categories of this paper are: atom-ph
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
34
The categories of this paper are: chem-ph
11
The categories of this paper are: hep-lat
2
The categories of this paper are: math
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
21
The categories of this paper are: adap-org