Scaling data-driven robotics with reward sketching and batch reinforcement learning.

2020 
We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different object manipulation tasks on a real robot platform. Given demonstrations of a task together with task-agnostic recorded experience, we use a special form of human annotation as supervision to learn a reward function, which enables us to deal with real-world tasks where the reward signal cannot be acquired directly. Learned rewards are used in combination with a large dataset of experience from different tasks to learn a robot policy offline using batch RL. We show that using our approach it is possible to train agents to perform a variety of challenging manipulation tasks including stacking rigid objects and handling cloth.
    • Correction
    • Source
    • Cite
    • Save
    • Machine Reading By IdeaReader
    90
    References
    38
    Citations
    NaN
    KQI
    []