43,563 research outputs found
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
We present RoboGen, a generative robotic agent that automatically learns
diverse robotic skills at scale via generative simulation. RoboGen leverages
the latest advancements in foundation and generative models. Instead of
directly using or adapting these models to produce policies or low-level
actions, we advocate for a generative scheme, which uses these models to
automatically generate diversified tasks, scenes, and training supervisions,
thereby scaling up robotic skill learning with minimal human supervision. Our
approach equips a robotic agent with a self-guided propose-generate-learn
cycle: the agent first proposes interesting tasks and skills to develop, and
then generates corresponding simulation environments by populating pertinent
objects and assets with proper spatial configurations. Afterwards, the agent
decomposes the proposed high-level task into sub-tasks, selects the optimal
learning approach (reinforcement learning, motion planning, or trajectory
optimization), generates required training supervision, and then learns
policies to acquire the proposed skill. Our work attempts to extract the
extensive and versatile knowledge embedded in large-scale models and transfer
them to the field of robotics. Our fully generative pipeline can be queried
repeatedly, producing an endless stream of skill demonstrations associated with
diverse tasks and environments
Composable Deep Reinforcement Learning for Robotic Manipulation
Model-free deep reinforcement learning has been shown to exhibit good
performance in domains ranging from video games to simulated robotic
manipulation and locomotion. However, model-free methods are known to perform
poorly when the interaction time with the environment is limited, as is the
case for most real-world robotic tasks. In this paper, we study how maximum
entropy policies trained using soft Q-learning can be applied to real-world
robotic manipulation. The application of this method to real-world manipulation
is facilitated by two important features of soft Q-learning. First, soft
Q-learning can learn multimodal exploration strategies by learning policies
represented by expressive energy-based models. Second, we show that policies
learned with soft Q-learning can be composed to create new policies, and that
the optimality of the resulting policy can be bounded in terms of the
divergence between the composed policies. This compositionality provides an
especially valuable tool for real-world manipulation, where constructing new
policies by composing existing skills can provide a large gain in efficiency
over training from scratch. Our experimental evaluation demonstrates that soft
Q-learning is substantially more sample efficient than prior model-free deep
reinforcement learning methods, and that compositionality can be performed for
both simulated and real-world tasks.Comment: Videos: https://sites.google.com/view/composing-real-world-policies
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