Curriculum-based Sensing Reduction in Simulation to Real-World Transfer for In-hand Manipulation
Lingfeng Tao,Jiucai Zhang,Qiaojie Zheng,Xiaoli Zhang,Lingfeng Tao,Jiucai Zhang,Qiaojie Zheng,Xiaoli Zhang
Simulation to Real-World Transfer allows affordable and fast training of learning-based robots for manipulation tasks using Deep Reinforcement Learning methods. Currently, Asymmetric Actor-Critic approaches are used for Sim2Real to reduce the rich idealized features in simulation to the accessible ones in the real world. However, the feature reduction from the simulation to the real world is condu...
