Reinforcement and Imitation Learning for Diverse Visuomotor SkillsDownload PDF

15 Feb 2018, 21:29 (edited 15 Feb 2018)ICLR 2018 Conference Blind SubmissionReaders: Everyone
  • Keywords: reinforcement learning, imitation learning, robotics, visuomotor skills
  • TL;DR: combine reinforcement learning and imitation learning to solve complex robot manipulation tasks from pixels
  • 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.
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