Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning

Egor Cherepanov, Nikita Kachaev, Alexey Kovalev, Aleksandr Panov

Keywords: Memory, Benchmark, Robots, POMDP, RL

TL;DR: A benchmark of 32 memory tasks for tabletop robotic manipulation, a benchmark to test the memory of an RL agent and classification of memory tasks in RL by type of memory usage

Abstract:

Memory is crucial for enabling agents to tackle complex tasks with temporal and spatial dependencies.
While many reinforcement learning (RL) algorithms incorporate memory, the field lacks a universal benchmark to assess an agent's memory capabilities across diverse scenarios.
This gap is particularly evident in tabletop robotic manipulation, where memory is essential for solving tasks with partial observability and ensuring robust performance, yet no standardized benchmarks exist.
To address this, we introduce MIKASA (Memory-Intensive Skills Assessment Suite for Agents), a comprehensive benchmark for memory RL, with three key contributions: (1) we propose a comprehensive classification framework for memory-intensive RL tasks, (2) we collect MIKASA-Base -- a unified benchmark that enables systematic evaluation of memory-enhanced agents across diverse scenarios, and (3) we develop MIKASA-Robo -- a novel benchmark of 32 carefully designed memory-intensive tasks that assess memory capabilities in tabletop robotic manipulation.
Our work introduces a unified framework to advance memory RL research, enabling more robust systems for real-world use.

Submission Number: 13