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 enable end-to-end learning for planning tasks by employing a differentiable planning module that approximates the value iteration algorithm. However%2C long-term planning remains a challenge because training very deep VINs is difficult. To address this problem%2C we embed highway value iteration -- a recent algorithm designed to facilitate long-term credit assignment -- into the structure of VINs. This improvement augments the planning module of the VIN with three additional components: 1) an aggregate gate%2C which constructs skip connections to improve information flow across many layers%3B 2) an exploration module%2C crafted to increase the diversity of information and gradient flow in spatial dimensions%3B 3) a filter gate designed to ensure safe exploration. The resulting novel highway VIN can be trained effectively with hundreds of layers using standard backpropagation. In long-term planning tasks requiring hundreds of planning steps%2C deep highway VINs outperform both traditional VINs and several advanced%2C very deep NNs.?quality=80&w=800)
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- Value iteration networks | PDF | Robotics | Technology & Computing
- Value iteration networks | PDF | Robotics | Technology & Computing
- Value iteration networks | PDF | Robotics | Technology & Computing
- Value iteration networks | PDF | Robotics | Technology & Computing
- Value iteration networks | PDF | Robotics | Technology & Computing