Efficient Robot Skill Learning via Grounded Simulation Learning, Imitation Learning from Observation, and Off-Policy Reinforcement Learning

Efficient Robot Skill Learning via Grounded Simulation Learning, Imitation Learning... - Peter Stone

Peter Stone
University of Texas at Austin
July 30, 2020
For autonomous robots to operate in the open, dynamically changing world, they will need to be able to learn a robust set of skills from relatively little experience. This talk begins by introducing Grounded Simulation Learning as a way to bridge the so-called reality gap between simulators and the real world in order to enable transfer learning from simulation to a real robot. It then introduces two new algorithms for imitation learning from observation that enable a robot to mimic demonstrated skills from state-only trajectories, without any knowledge of the actions selected by the demonstrator. Connections to theoretical advances in off-policy reinforcement learning will be highlighted throughout.

Grounded Simulation Learning has led to the fastest known stable walk on a widely used humanoid robot, and imitation learning from observation opens the possibility of robots learning from the vast trove of videos available online.