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Watch this robot dog learn to walk from scratch in real time! Our new method, APRL, dynamically adjusts exploration constraints to enable fast and performant RL directly in the real world. APRL can also adapt to changes in the terrain. No simulation, no demos. A thread 👇

Sergey Levine

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105,579 görüntüleme • 2 yıl önce •via X (Twitter)

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Sergey Levine profil fotoğrafı

Sergey Levine2 yıl önce

The idea in APRL is to adjust action exploration constraints, so that when the policy is bad, the robot performs more conservative exploration, falls less, and explores more effectively. As the policy gets better, the constraints are relaxed and exploration is more aggressive.

Sergey Levine profil fotoğrafı

Sergey Levine2 yıl önce

The bounds can be adjusted adaptively using a model misprediction term, which measures how unfamiliar the situation for the robot is. This has the added benefit that when the robot is placed in a new environment, it can automatically modulate exploration to adapt quickly.

Sergey Levine profil fotoğrafı

Sergey Levine2 yıl önce

I think it's quite exciting to see real-world RL learn such effective gaits in just 10s of minutes! Our project video provides a more complete explanation of the method:

Sergey Levine profil fotoğrafı

Sergey Levine2 yıl önce

To learn more, check out the project website with paper and code here: by @smithlaura1028 & Yunhao Cao

Sergey Levine profil fotoğrafı

Sergey Levine2 yıl önce

If you want to learn more about @smithlaura1028's exciting work on real-world RL for robotic locomotion, check out:

malix®️ profil fotoğrafı

malix®️2 yıl önce

@kevin_zakka Spooky!

James profil fotoğrafı

James2 yıl önce

does this make sense on a differential drive wheel robot? eg where it wants to get closer to the goal and just can apply torques to the wheels? I would think with some loss for abrupt changes it would work? BD has a wheeled+legged robot too. would love to see it 'learn' to skate

bSot〰️ profil fotoğrafı

bSot〰️2 yıl önce

amazing now do legs

연세쥬피터노트북 profil fotoğrafı

연세쥬피터노트북2 yıl önce

Wow!!!! I tried this in a year ago and I failed... RL is so difficult without any advisor...

Josh Duyan ☰ profil fotoğrafı

Josh Duyan ☰2 yıl önce

What effect do you think APRL could have on the field of real-world robotic locomotion?

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