TY - GEN
T1 - End-to-end robot manipulation using demonstration-guided goal strategies
AU - Min, Cheol Hui
AU - Song, Jae Bok
N1 - Funding Information:
This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622)
Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - In deep reinforcement learning, finding the optimal manipulation policy of a multi-DOF manipulator in 3D space requires intricate reward shaping for the agent to find the optimal policy. However, reward shaping requires cumbersome optimization of the reward function based on prior knowledge on robotic tasks to achieve. This makes it desirable to learn various manipulation policies with a simple reward function.In this study, we propose a method that learns the manipulation policy of a manipulator in a sparse reward setting. To this end, Hindsight Experience Replay (HER) is combined with Twin Delayed DDPG (TD3) by applying the goal strategy that incorporates demonstrations for the policy. It is shown that the policy can estimate the joint control command of a 7-DoF manipulator from raw RGB video inputs in sparse reward setting in an end-to-end manner.
AB - In deep reinforcement learning, finding the optimal manipulation policy of a multi-DOF manipulator in 3D space requires intricate reward shaping for the agent to find the optimal policy. However, reward shaping requires cumbersome optimization of the reward function based on prior knowledge on robotic tasks to achieve. This makes it desirable to learn various manipulation policies with a simple reward function.In this study, we propose a method that learns the manipulation policy of a manipulator in a sparse reward setting. To this end, Hindsight Experience Replay (HER) is combined with Twin Delayed DDPG (TD3) by applying the goal strategy that incorporates demonstrations for the policy. It is shown that the policy can estimate the joint control command of a 7-DoF manipulator from raw RGB video inputs in sparse reward setting in an end-to-end manner.
UR - http://www.scopus.com/inward/record.url?scp=85070554812&partnerID=8YFLogxK
U2 - 10.1109/URAI.2019.8768699
DO - 10.1109/URAI.2019.8768699
M3 - Conference contribution
AN - SCOPUS:85070554812
T3 - 2019 16th International Conference on Ubiquitous Robots, UR 2019
SP - 159
EP - 164
BT - 2019 16th International Conference on Ubiquitous Robots, UR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th International Conference on Ubiquitous Robots, UR 2019
Y2 - 24 June 2019 through 27 June 2019
ER -