Memory Augmented Control Networks

Arbaaz Khan, Clark Zhang, Nikolay Atanasov, Konstantinos Karydis, Vijay Kumar, Daniel D. Lee

Abstract: Planning problems in partially observable environments cannot be solved directly with convolutional networks and require some form of memory. But, even memory networks with sophisticated addressing schemes are unable to learn intelligent reasoning satisfactorily due to the complexity of simultaneously learning to access memory and plan. To mitigate these challenges we propose the Memory Augmented Control Network (MACN). The network splits planning into a hierarchical process. At a lower level, it learns to plan in a locally observed space. At a higher level, it uses a collection of policies computed on locally observed spaces to learn an optimal plan in the global environment it is operating in. The performance of the network is evaluated on path planning tasks in environments in the presence of simple and complex obstacles and in addition, is tested for its ability to generalize to new environments not seen in the training set.

TL;DR: Memory Augmented Network to plan in partially observable environments.

Keywords: planning, memory networks, deep learning, robotics