Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
Iman Nematollahi,Erick Rosete-Beas,Adrian Röfer,Tim Welschehold,Abhinav Valada,Wolfram Burgard,Iman Nematollahi,Erick Rosete-Beas,Adrian Röfer,Tim Welschehold,Abhinav Valada,Wolfram Burgard
$A$ core challenge for an autonomous agent acting in the real world is to adapt its repertoire of skills to cope with its noisy perception and dynamics. To scale learning of skills to long-horizon tasks, robots should be able to learn and later refine their skills in a structured manner through trajectories rather than making instantaneous decisions individually at each time step. To this end, we ...
