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Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning.
Jingyun Yang
Max Sobol Mark
Brandon Vu
Archit Sharma
Jeannette Bohg
Chelsea Finn
Published in:
ICRA (2024)
Keyphrases
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fine tuning
reinforcement learning
real robot
real world
autonomous learning
optimal policy
reward function
fine tuned
robotic systems
markov decision processes
semi autonomous
robot behavior
supervised learning
mobile robot
total reward
function approximation
policy search
perceptual aliasing
viable alternative
robot control
fine tune
control policy
control policies
data sets
markov decision problems
reinforcement learning algorithms
service robots
autonomous navigation
fitted q iteration
markov decision process
learning capabilities
training set
reinforcement learning agents
dynamic programming
state space
partially observable markov decision processes
real environment
vision system
multi robot
machine learning
hierarchical reinforcement learning
human robot interaction
decentralized control
learning algorithm
multi agent
path planning
search and rescue
humanoid robot
model free
robot navigation
temporal difference
motor skills
infinite horizon
robot arm
action selection
reward shaping
autonomous vehicles