Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach
Wenxing Liu,Hanlin Niu,Wei Pan,Guido Herrmann,Joaquin Carrasco,Wenxing Liu,Hanlin Niu,Wei Pan,Guido Herrmann,Joaquin Carrasco
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow con-vergence to the optimal policy, nor effective, i.e., sizeable real-world robot data. Given limited time and hardware budgets, the performance of sim-and-real training is not satisfactory. In this paper, we propose a Consen...
