IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data
Ajay Mandlekar,Fabio Ramos,Byron Boots,Silvio Savarese,Li Fei-Fei,Animesh Garg,Dieter Fox,Ajay Mandlekar,Fabio Ramos,Byron Boots,Silvio Savarese,Li Fei-Fei,Animesh Garg,Dieter Fox
Learning from offline task demonstrations is a problem of great interest in robotics. For simple short-horizon manipulation tasks with modest variation in task instances, offline learning from a small set of demonstrations can produce controllers that successfully solve the task. However, leveraging a fixed batch of data can be problematic for larger datasets and longer-horizon tasks with greater ...
