Previous Work Review#
- We finish investigating the Language Reward Shaping model and we find out that it is slower than a vanilla PPO+RND learning agent. We found out that rewarding to partially matched trajectories significantly slows down the learning speed.
- Now we should move forward to the next research questions.
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