Deep Reinforcement Learning Toward Robotics

Deep reinforcement learning (RL) has shown promising results for learning complex sequential decision-making behaviors in various environments from computer games, the game of Go, to simulated humanoids. However, most successes have been exclusively in simulation, and results in real-world applications such as robotics are limited, largely due to poor sample efficiency of typical deep RL algorithm and other challenges. In this talk, I present essential components for deep reinforcement learning in the wild. First, I will discuss methods improve performance and sample efficiency of the core RL algorithms, blurring the boundaries among classic model-based RL, off-policy and on-policy model-free RL. In the latter part, I illustrate other practical challenges for enabling autonomous learning agents in the real world, particularly that current RL formulations require constant human interventions for safety, resets, and reward engineering, and do not scale to learn diverse skills. I present our recent work to address those challenges and show pathways to achieve continually learning robots in the real world.

Shane Gu, Research Scientist at Google Brain

Shane Gu is a Research Scientist at Google Brain, where he mainly works on problems in deep learning, reinforcement learning, robotics, and probabilistic machine learning. His recent research focuses on sample-efficient RL methods that could scale to solve difficult continuous control problems in the real-world, which have been covered by Google Research Blogpost and MIT Technology Review. He completed his PhD in Machine Learning at the University of Cambridge and the Max Planck Institute for Intelligent Systems in Tübingen, where he was co-supervised by Richard E. Turner, Zoubin Ghahramani, and Bernhard Schölkopf. During his PhD, he also collaborated closely with Sergey Levine at UC Berkeley/Google Brain and Timothy Lillicrap at DeepMind. He holds a B.ASc. in Engineering Science from the University of Toronto, where he did his thesis with Geoffrey Hinton in distributed training of neural networks using evolutionary algorithms.

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