Reinforcement and Imitation Learning for Diverse Visuomotor Skills

Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess

Feb 15, 2018 (modified: Feb 15, 2018) ICLR 2018 Conference Blind Submission readers: everyone Show Bibtex
  • Abstract: We propose a general deep reinforcement learning method and apply it to robot manipulation tasks. Our approach leverages demonstration data to assist a reinforcement learning agent in learning to solve a wide range of tasks, mainly previously unsolved. We train visuomotor policies end-to-end to learn a direct mapping from RGB camera inputs to joint velocities. Our experiments indicate that our reinforcement and imitation approach can solve contact-rich robot manipulation tasks that neither the state-of-the-art reinforcement nor imitation learning method can solve alone. We also illustrate that these policies achieved zero-shot sim2real transfer by training with large visual and dynamics variations.
  • TL;DR: combine reinforcement learning and imitation learning to solve complex robot manipulation tasks from pixels
  • Keywords: reinforcement learning, imitation learning, robotics, visuomotor skills