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Can robots practice tasks on their own? We introduce a method for improving autonomy in robotic reinforcement learning. A thread 🧵

Chelsea Finn

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63,823 görüntüleme • 3 yıl önce •via X (Twitter)

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Chelsea Finn profil fotoğrafı

Chelsea Finn3 yıl önce

In principle, reinforcement learning can allow robots to learn on their own. In practice, people need to spend significant effort to define rewards and "reset" the world between trials. Can a robot improve by itself?

Chelsea Finn profil fotoğrafı

Chelsea Finn3 yıl önce

Our approach, MEDAL++, has a simple procedure: 1. Human provides a few demos 2. Simultaneously: - learn a task reward function - learn 2 policies to do and undo the task

Chelsea Finn profil fotoğrafı

Chelsea Finn3 yıl önce

MEDAL++ allows robots to learn challenging tasks from camera image inputs, with a high degree of autonomy. Some important bits to get it to work: - heavy regularization on learned reward - regularize policy towards demos - wrist-mounted camera - RED-Q (

Chelsea Finn profil fotoğrafı

Chelsea Finn3 yıl önce

A challenging but rewarding project led by @archit_sharma97, @AhmedSQRD, Rehaan Ahmad Website: Paper: Code:

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