Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Jun Yamada, Youngwoon Lee, Gautam Salhotra, Karl Pertsch, Max Pflueger, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert

Abstract: Deep reinforcement learning (RL) agents are able to learn contact-rich manipulation tasks by maximizing a reward signal, but require large amounts of experience, especially in environments with man...