Learn from Robot: Transferring Skills for Diverse Manipulation via Cycle Generative Networks

摘要

Reinforcement learning (RL) has shown impressive results on a variety of robot tasks, but it requires a large amount of data for learning a single RL policy. However, in manufacturing there is a wide demand of reusing skills from different robots and it is hard to transfer the learned policy to different hardware due to diverse robot body morphology, kinematics, and dynamics. In this paper, we address the problem of transferring policies between different robot platforms. We learn a set of skills on each specific robot and represent them in a latent space. We propose to transfer the skills between different robots by mapping latent action spaces through a cycle generative network in a supervised learning manner. We extend the policy model learned on one robot with a pre-trained generative network to enable the robot to learn from the skill of another robot. We evaluate our method on several simulated experiments and demonstrate that our Learn from Robot (LfR) method accelerates new skill learning.