1,080 research outputs found
Deep Visual Foresight for Planning Robot Motion
A key challenge in scaling up robot learning to many skills and environments
is removing the need for human supervision, so that robots can collect their
own data and improve their own performance without being limited by the cost of
requesting human feedback. Model-based reinforcement learning holds the promise
of enabling an agent to learn to predict the effects of its actions, which
could provide flexible predictive models for a wide range of tasks and
environments, without detailed human supervision. We develop a method for
combining deep action-conditioned video prediction models with model-predictive
control that uses entirely unlabeled training data. Our approach does not
require a calibrated camera, an instrumented training set-up, nor precise
sensing and actuation. Our results show that our method enables a real robot to
perform nonprehensile manipulation -- pushing objects -- and can handle novel
objects not seen during training.Comment: ICRA 2017. Supplementary video:
https://sites.google.com/site/robotforesight
Learning with Latent Language
The named concepts and compositional operators present in natural language
provide a rich source of information about the kinds of abstractions humans use
to navigate the world. Can this linguistic background knowledge improve the
generality and efficiency of learned classifiers and control policies? This
paper aims to show that using the space of natural language strings as a
parameter space is an effective way to capture natural task structure. In a
pretraining phase, we learn a language interpretation model that transforms
inputs (e.g. images) into outputs (e.g. labels) given natural language
descriptions. To learn a new concept (e.g. a classifier), we search directly in
the space of descriptions to minimize the interpreter's loss on training
examples. Crucially, our models do not require language data to learn these
concepts: language is used only in pretraining to impose structure on
subsequent learning. Results on image classification, text editing, and
reinforcement learning show that, in all settings, models with a linguistic
parameterization outperform those without
Learning Contact-Rich Manipulation Skills with Guided Policy Search
Autonomous learning of object manipulation skills can enable robots to
acquire rich behavioral repertoires that scale to the variety of objects found
in the real world. However, current motion skill learning methods typically
restrict the behavior to a compact, low-dimensional representation, limiting
its expressiveness and generality. In this paper, we extend a recently
developed policy search method \cite{la-lnnpg-14} and use it to learn a range
of dynamic manipulation behaviors with highly general policy representations,
without using known models or example demonstrations. Our approach learns a set
of trajectories for the desired motion skill by using iteratively refitted
time-varying linear models, and then unifies these trajectories into a single
control policy that can generalize to new situations. To enable this method to
run on a real robot, we introduce several improvements that reduce the sample
count and automate parameter selection. We show that our method can acquire
fast, fluent behaviors after only minutes of interaction time, and can learn
robust controllers for complex tasks, including putting together a toy
airplane, stacking tight-fitting lego blocks, placing wooden rings onto
tight-fitting pegs, inserting a shoe tree into a shoe, and screwing bottle caps
onto bottles
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