Dexterous robotic manipulation using deep reinforcement learning and knowledge transfer for complex sparse reward-based tasks

Qiang Wang, Francisco Roldan Sanchez, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel E. O'Connor, Manuel Wüthrich, Felix Widmaier, Stefan Bauer, Stephen J. Redmond

Abstract: This paper describes a deep reinforcement learning (DRL) approach that won Phase 1 of the Real Robot Challenge (RRC) 2021, and then extends this method to a more difficult manipulation task. The RRC ...