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cs.LG2022
Implicit Two-Tower Policies
Yunfan Zhao, Qingkai Pan, Krzysztof Choromanski +2
We present a new class of structured reinforcement learning policy-architectures, Implicit Two-Tower (ITT) policies, where the actions are chosen based on the attention scores of t…
cs.RO2022★ 12 cited
i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops
Saminda Abeyruwan, Laura Graesser, David B. D'Ambrosio +6
Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection…