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Vpe: Variational policy embedding for transfer reinforcement learning
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-6824-6443
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Center for Applied Autonomous Sensor Systems, Örebro University, Sweden.ORCID iD: 0000-0003-3958-6179
2019 (English)In: 2019 International Conference on Robotics And Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 36-42Conference paper, Published paper (Refereed)
Abstract [en]

Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and data collection is expensive, making retraining undesirable. Simulation training allows for feasible training times, but on the other hand suffer from a reality-gap when applied in real-world settings. This raises the need of efficient adaptation of policies acting in new environments. We consider the problem of transferring knowledge within a family of similar Markov decision processes. We assume that Q-functions are generated by some low-dimensional latent variable. Given such a Q-function, we can find a master policy that can adapt given different values of this latent variable. Our method learns both the generative mapping and an approximate posterior of the latent variables, enabling identification of policies for new tasks by searching only in the latent space, rather than the space of all policies. The low-dimensional space, and master policy found by our method enables policies to quickly adapt to new environments. We demonstrate the method on both a pendulum swing-up task in simulation, and for simulation-to-real transfer on a pushing task.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 36-42
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems) Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-258072DOI: 10.1109/ICRA.2019.8793556ISI: 000494942300006Scopus ID: 2-s2.0-85071508761ISBN: 9781538660263 (print)OAI: oai:DiVA.org:kth-258072DiVA, id: diva2:1349756
Conference
2019 International Conference on Robotics and Automation, ICRA 2019; Palais des Congres de Montreal, Montreal; Canada; 20 May 2019 through 24 May 2019
Projects
Factories of the Future (FACT)
Note

QC 20190916

Available from: 2019-09-09 Created: 2019-09-09 Last updated: 2020-01-31Bibliographically approved

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Kragic, DanicaStork, Johannes A.

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