# Learning Dense Reward with Temporal Variant Self-Supervision

arXiv: https://arxiv.org/abs/2205.10431 · HTML: https://mlsanity.com/paper/2205.10431/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 17 references that are in the map.
- First posted on arXiv 20 May 2022.

## Builds on (most cited first, 9 of 9)

- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Deep reinforcement learning from human preferences](https://mlsanity.com/paper/1706.03741/) (2017)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [PEBBLE: Feedback-Efficient Interactive Reinforcement Learning via Relabeling Experience and Unsupervised Pre-training](https://mlsanity.com/paper/2106.05091/) (2021)
- [Reverse Curriculum Generation for Reinforcement Learning](https://mlsanity.com/paper/1707.05300/) (2017)
- [Maximum Entropy Deep Inverse Reinforcement Learning](https://mlsanity.com/paper/1507.04888/) (2015)
- [Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks](https://mlsanity.com/paper/1810.10191/) (2018)
- [Learning Dense Rewards for Contact-Rich Manipulation Tasks](https://mlsanity.com/paper/2011.08458/) (2020)

## Abstract (arXiv)

Rewards play an essential role in reinforcement learning. In contrast to rule-based game environments with well-defined reward functions, complex real-world robotic applications, such as contact-rich manipulation, lack explicit and informative descriptions that can directly be used as a reward. Previous effort has shown that it is possible to algorithmically extract dense rewards directly from multimodal observations. In this paper, we aim to extend this effort by proposing a more efficient and robust way of sampling and learning. In particular, our sampling approach utilizes temporal variance to simulate the fluctuating state and action distribution of a manipulation task. We then proposed a network architecture for self-supervised learning to better incorporate temporal information in latent representations. We tested our approach in two experimental setups, namely joint-assembly and door-opening. Preliminary results show that our approach is effective and efficient in learning dense rewards, and the learned rewards lead to faster convergence than baselines.