Robotic Table Tennis with Model-Free Reinforcement Learning
Wenbo Gao,Laura Graesser,Krzysztof Choromanski,Xingyou Song,Nevena Lazic,Pannag Sanketi,Vikas Sindhwani,Navdeep Jaitly,Wenbo Gao,Laura Graesser,Krzysztof Choromanski,Xingyou Song,Nevena Lazic,Pannag Sanketi,Vikas Sindhwani,Navdeep Jaitly
We propose a model-free algorithm for learning efficient policies capable of returning table tennis balls by controlling robot joints at a rate of 100Hz. We demonstrate that evolutionary search (ES) methods acting on CNN-based policy architectures for non-visual inputs and convolving across time learn compact controllers leading to smooth motions. Furthermore, we show that with appropriately tuned...
