相关论文: From Video Game to Real Robot: The Transfer betwee…

Simulation is a crucial component of any robotic system. In order to simulate correctly, we need to write complex rules of the environment: how dynamic agents behave, and how the actions of each of the agents affect the behavior of others.…

Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning…

Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Behavioural cloning, where a computer is taught to perform a task based on demonstrations, has been successfully applied to various video games and robotics tasks, with and without reinforcement learning. This also includes end-to-end…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Transfer learning approaches in reinforcement learning aim to assist agents in learning their target domains by leveraging the knowledge learned from other agents that have been trained on similar source domains. For example, recent…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

In this paper, we consider the task of learning control policies for text-based games. In these games, all interactions in the virtual world are through text and the underlying state is not observed. The resulting language barrier makes…

Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

This paper proposes a detailed and extensive comparison of the Trust Region Policy Optimization and DeepQ-Network with Normalized Advantage Functions with respect to other state of the art algorithms, namely Deep Deterministic Policy…

Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task orientation and insufficient adaptability to environmental…

Text adventure games, in which players must make sense of the world through text descriptions and declare actions through text descriptions, provide a stepping stone toward grounding action in language. Prior work has demonstrated that…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

This work contributes to developing an agent based on deep reinforcement learning capable of acting in a beyond visual range (BVR) air combat simulation environment. The paper presents an overview of building an agent representing a…

While reinforcement learning has achieved considerable successes in recent years, state-of-the-art models are often still limited by the size of state and action spaces. Model-free reinforcement learning approaches use some form of state…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…