Revisiting Sparse Rewards for Goal-Reaching Reinforcement Learning

Many real-world robot learning problems, such as pick-and-place or arriving at a destination, can be seen as a problem of reaching a goal state as soon as possible. These problems, when formulated as episodic reinforcement learning tasks, can easily be specified to align well with our intended goal: -1 reward every time step with termination upon reaching the goal state, called minimum-time tasks. Despite this simplicity, such formulations are often overlooked in favor of dense rewards due to their perceived difficulty and lack of informativeness. Our studies contrast the two reward paradigms, revealing that the minimum-time task specification not only facilitates learning higher-quality policies but can also surpass dense-reward-based policies on their own performance metrics. Crucially, we also identify the goal-hit rate of the initial policy as a robust early indicator for learning success in such sparse feedback settings. Finally, using four distinct real-robotic platforms, we show that it is possible to learn pixel-based policies from scratch within two to three hours using constant negative rewards.

Revisiting Constant Negative Rewards for Goal-Reaching Tasks in Robot Learning

Many real-world robot learning problems, such as pick-and-place or arriving at a destination, can be seen as a problem of reaching a goal state as soon as possible. These problems, when formulated as episodic reinforcement learning tasks, can easily be specified to align well with our intended goal: -1 reward every time step with termination upon reaching the goal state, called minimum-time tasks. Despite this simplicity, such formulations are often overlooked in favor of dense rewards due to their perceived difficulty and lack of informativeness. Our studies contrast the two reward paradigms, revealing that the minimum-time task specification not only facilitates learning higher-quality policies but can also surpass dense-reward-based policies on their own performance metrics. Crucially, we also identify the goal-hit rate of the initial policy as a robust early indicator for learning success in such sparse feedback settings. Finally, using four distinct real-robotic platforms, we show that it is possible to learn pixel-based policies from scratch within two to three hours using constant negative rewards.

Automatic Monitoring Social Dynamics During Big Incidences: A Case Study of COVID-19 in Bangladesh

Newspapers are trustworthy media where people get the most reliable and credible information compared with other sources. On the other hand, social media often spread rumors and misleading news to get more traffic and attention. Careful characterization, evaluation, and interpretation of newspaper data can provide insight into intrigue and passionate social issues to monitor any big social incidence. This study analyzed a large set of spatio-temporal Bangladeshi newspaper data related to the COVID-19 pandemic. The methodology included volume analysis, topic analysis, automated classification, and sentiment analysis of news articles to get insight into the COVID-19 pandemic in different sectors and regions in Bangladesh over a period of time. This analysis will help the government and other organizations to figure out the challenges that have arisen in society due to this pandemic, what steps should be taken immediately and in the post-pandemic period, how the government and its allies can come together to address the crisis in the future, keeping these problems in mind.