Multiplicative Controller Fusion: Leveraging Algorithmic Priors for Sample-efficient Reinforcement Learning and Safe Sim-To-Real Transfer
Krishan Rana,Vibhavari Dasagi,Ben Talbot,Michael Milford,Niko Sünderhauf,Krishan Rana,Vibhavari Dasagi,Ben Talbot,Michael Milford,Niko Sünderhauf
Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to reality is still extremely challenging. We present a novel approach to model-free reinforcement learning that can leverage existing sub-optimal solutions as an ...
