5 research outputs found
Simulation-based reinforcement learning for real-world autonomous driving
We use reinforcement learning in simulation to obtain a driving system
controlling a full-size real-world vehicle. The driving policy takes RGB images
from a single camera and their semantic segmentation as input. We use mostly
synthetic data, with labelled real-world data appearing only in the training of
the segmentation network.
Using reinforcement learning in simulation and synthetic data is motivated by
lowering costs and engineering effort.
In real-world experiments we confirm that we achieved successful sim-to-real
policy transfer. Based on the extensive evaluation, we analyze how design
decisions about perception, control, and training impact the real-world
performance
Learning to Run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments
In the NIPS 2017 Learning to Run challenge, participants were tasked with
building a controller for a musculoskeletal model to make it run as fast as
possible through an obstacle course. Top participants were invited to describe
their algorithms. In this work, we present eight solutions that used deep
reinforcement learning approaches, based on algorithms such as Deep
Deterministic Policy Gradient, Proximal Policy Optimization, and Trust Region
Policy Optimization. Many solutions use similar relaxations and heuristics,
such as reward shaping, frame skipping, discretization of the action space,
symmetry, and policy blending. However, each of the eight teams implemented
different modifications of the known algorithms.Comment: 27 pages, 17 figure
Learning to Run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments
Kidziński Ł, Mohanty SP, Ong C, et al. Learning to Run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments. Presented at the 31nd Conference on Neural Information Processing Systems (NIPS 2017), Competition Track, Long Beach, USA.In the NIPS 2017 Learning to Run challenge, participants were tasked with building a controller for a musculoskeletal model to make it run as fast as possible through an obstacle course. Top participants were invited to describe their algorithms. In this work, we present eight solutions that used deep reinforcement learning approaches, based on algorithms such as Deep Deterministic Policy Gradient, Proximal Policy Optimization, and Trust Region Policy Optimization. Many solutions use similar relaxations and heuristics, such as reward shaping, frame skipping, discretization of the action space, symmetry, and policy blending. However, each of the eight teams implemented different modifications of the known algorithms