Sim-to-Real Visual Grasping via State Representation Learning Based on Combining Pixel-Level and Feature-Level Domain Adaptation
Youngbin Park,Sang Hyoung Lee,Il Hong Suh,Youngbin Park,Sang Hyoung Lee,Il Hong Suh
In this study, we present a method to grasp diverse unseen real-world objects using an off-policy actor-critic deep reinforcement learning (RL) with the help of a simulation and the use of as little real-world data as possible. Actor-critic deep RL is unstable and difficult to tune when a raw image is given as an input. Therefore, we use state representation learning (SRL) to make actor-critic RL ...
