Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation

no code implementations • 6 Mar 2024 • Marcel Torne, Anthony Simeonov, Zechu Li, April Chan, Tao Chen, Abhishek Gupta, Pulkit Agrawal

To learn performant, robust policies without the burden of unsafe real-world data collection or extensive human supervision, we propose RialTo, a system for robustifying real-world imitation learning policies via reinforcement learning in "digital twin" simulation environments constructed on the fly from small amounts of real-world data.

Imitation Learning reinforcement-learning