Pre-training of Deep RL Agents for Improved Learning under Domain Randomization

• URL: http://arxiv.org/abs/2104.14386v1
• Date: Thu, 29 Apr 2021 14:54:11 GMT
• Title: Pre-training of Deep RL Agents for Improved Learning under Domain Randomization
• Authors: Artemij Amiranashvili, Max Argus, Lukas Hermann, Wolfram Burgard, Thomas Brox
• Abstract summary: We show how to pre-train a perception encoder that already provides an embedding invariant to the randomization. We demonstrate this yields consistently improved results on a randomized version of DeepMind control suite tasks and a stacking environment on arbitrary backgrounds with zero-shot transfer to a physical robot.
• Score: 63.09932240840656
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Visual domain randomization in simulated environments is a widely used method to transfer policies trained in simulation to real robots. However, domain randomization and augmentation hamper the training of a policy. As reinforcement learning struggles with a noisy training signal, this additional nuisance can drastically impede training. For difficult tasks it can even result in complete failure to learn. To overcome this problem we propose to pre-train a perception encoder that already provides an embedding invariant to the randomization. We demonstrate that this yields consistently improved results on a randomized version of DeepMind control suite tasks and a stacking environment on arbitrary backgrounds with zero-shot transfer to a physical robot.

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