Hierarchically Integrated Models: Learning to Navigate from Heterogeneous RobotsDownload PDF

19 Jun 2021, 10:04 (edited 03 Nov 2021)CoRL2021 PosterReaders: Everyone
  • Keywords: deep reinforcement learning, multi-robot learning, mobile navigation
  • Abstract: Deep reinforcement learning algorithms require large and diverse datasets in order to learn successful policies for perception-based mobile navigation. However, gathering such datasets with a single robot can be prohibitively expensive. Collecting data with multiple different robotic platforms with possibly different dynamics is a more scalable approach to large-scale data collection. But how can deep reinforcement learning algorithms leverage such heterogeneous datasets? In this work, we propose a deep reinforcement learning algorithm with hierarchically integrated models (HInt). At training time, HInt learns separate perception and dynamics models, and at test time, HInt integrates the two models in a hierarchical manner and plans actions with the integrated model. This method of planning with hierarchically integrated models allows the algorithm to train on datasets gathered by a variety of different platforms, while respecting the physical capabilities of the deployment robot at test time. Our mobile navigation experiments show that HInt outperforms conventional hierarchical policies and single-source approaches.
  • Supplementary Material: zip
  • Poster: jpg
15 Replies