i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops

Saminda Wishwajith Abeyruwan, Laura Graesser, David B. D'Ambrosio, Avi Singh, Anish Shankar, Alex Bewley, Deepali Jain, Krzysztof Marcin Choromanski, Pannag R. Sanketi

Abstract: Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low c...