论文标题

触觉机器人技术的深度加固学习:学习在盲文键盘上打字

Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard

论文作者

Church, Alex, Lloyd, John, Hadsell, Raia, Lepora, Nathan F.

论文摘要

人工触摸似乎非常适合加固学习(RL),因为这两个范式都依赖于与环境的互动。在这里,我们提出了一个新的环境和一组任务,以鼓励开发触觉增强学习:学习在盲文键盘上打字。提出了四个任务,从箭头到字母键的难度以及从离散行动到连续动作。模拟对应物还通过从物理环境中抽样触觉数据来构建。使用最先进的深度RL算法,我们表明所有这些任务都可以在模拟中成功学习,并且可以在4个任务中有3个任务可以在真实的机器人上学习。目前,缺乏样品效率使连续的字母任务在机器人上不切实际。据我们所知,这项工作首次展示了使用仅包含触觉图像的观测值成功地培训现实世界中的深入RL代理。为了帮助未来的研究利用此环境,该项目的代码与盲文钥匙扣的设计一起发布,用于3D打印以及重新创建实验的指南。还可以在https://youtu.be/enylca2ue_e上找到一个简短的视频摘要。

Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new environment and set of tasks to encourage development of tactile reinforcement learning: learning to type on a braille keyboard. Four tasks are proposed, progressing in difficulty from arrow to alphabet keys and from discrete to continuous actions. A simulated counterpart is also constructed by sampling tactile data from the physical environment. Using state-of-the-art deep RL algorithms, we show that all of these tasks can be successfully learnt in simulation, and 3 out of 4 tasks can be learned on the real robot. A lack of sample efficiency currently makes the continuous alphabet task impractical on the robot. To the best of our knowledge, this work presents the first demonstration of successfully training deep RL agents in the real world using observations that exclusively consist of tactile images. To aid future research utilising this environment, the code for this project has been released along with designs of the braille keycaps for 3D printing and a guide for recreating the experiments. A brief video summary is also available at https://youtu.be/eNylCA2uE_E.

扫码加入交流群

加入微信交流群

微信交流群二维码

扫码加入学术交流群,获取更多资源