Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers
Gagan Khandate,Cameron Paul Mehlman,Xingsheng Wei,Matei Ciocarlie,Gagan Khandate,Cameron Paul Mehlman,Xingsheng Wei,Matei Ciocarlie
Recently, reinforcement learning has led to dexterous manipulation skills of increasing complexity. Nonetheless, learning these skills in simulation still exhibits poor sample-efficiency which stems from the fact these skills are learned from scratch without the benefit of any domain expertise. In this work, we aim to improve the sample efficiency of learning dexterous in-hand manipulation skills ...
