no code implementations • 31 Mar 2022 • Steven Bohez, Saran Tunyasuvunakool, Philemon Brakel, Fereshteh Sadeghi, Leonard Hasenclever, Yuval Tassa, Emilio Parisotto, Jan Humplik, Tuomas Haarnoja, Roland Hafner, Markus Wulfmeier, Michael Neunert, Ben Moran, Noah Siegel, Andrea Huber, Francesco Romano, Nathan Batchelor, Federico Casarini, Josh Merel, Raia Hadsell, Nicolas Heess
We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots.
no code implementations • 30 Jul 2020 • Markus Wulfmeier, Dushyant Rao, Roland Hafner, Thomas Lampe, Abbas Abdolmaleki, Tim Hertweck, Michael Neunert, Dhruva Tirumala, Noah Siegel, Nicolas Heess, Martin Riedmiller
We introduce Hindsight Off-policy Options (HO2), a data-efficient option learning algorithm.
Offline reinforcement learning (RL), also known as batch RL, offers the prospect of policy optimization from large pre-recorded datasets without online environment interaction.
In particular, we show that a real robotic arm can learn to grasp and lift and solve a Ball-in-a-Cup task from scratch, when only raw sensor streams are used for both controller input and in the auxiliary reward definition.
In practice, however, standard off-policy algorithms fail in the batch setting for continuous control.
Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments.
no code implementations • 26 Jun 2019 • Markus Wulfmeier, Abbas Abdolmaleki, Roland Hafner, Jost Tobias Springenberg, Michael Neunert, Tim Hertweck, Thomas Lampe, Noah Siegel, Nicolas Heess, Martin Riedmiller
The successful application of general reinforcement learning algorithms to real-world robotics applications is often limited by their high data requirements.
Non-textual components such as charts, diagrams and tables provide key information in many scientific documents, but the lack of large labeled datasets has impeded the development of data-driven methods for scientific figure extraction.