Adaptive Curriculum Generation from Demonstrations for Sim-to-Real Visuomotor Control
Lukas Hermann,Max Argus,Andreas Eitel,Artemij Amiranashvili,Wolfram Burgard,Thomas Brox,Lukas Hermann,Max Argus,Andreas Eitel,Artemij Amiranashvili,Wolfram Burgard,Thomas Brox
We propose Adaptive Curriculum Generation from Demonstrations (ACGD) for reinforcement learning in the presence of sparse rewards. Rather than designing shaped reward functions, ACGD adaptively sets the appropriate task difficulty for the learner by controlling where to sample from the demonstration trajectories and which set of simulation parameters to use. We show that training vision-based cont...
