Guiding real-world reinforcement learning for in-contact manipulation tasks with Shared Control Templates

Abstract The requirement for a high number of training episodes has been a major limiting factor for the application of Reinforcement Learning (RL) in robotics. Learning skills directly on real robots requires time, causes wear and tear and can lead to damage to the robot and environment due to unsafe exploratory actions. The success of learning skills in simulation and transferring them to real robots has also been limited by the gap between reality and simulation. This is particularly problematic for tasks involving contact with the environment as contact dynamics are hard to model and simulate. In this paper we propose a framework which leverages a shared control framework for modeling known constraints defined by object interactions and task geometry to reduce the state and action spaces and hence the overall dimensionality of the reinforcement learning problem. The unknown task knowledge and actions are learned by a reinforcement learning agent by conducting exploration in the constrained environment. Using a pouring task and grid-clamp placement task (similar to peg-in-hole) as use cases and a 7-DoF arm, we show that our approach can be used to learn directly on the real robot. The pouring task is learned in only 65 episodes (16 min) and the grid-clamp placement task is learned in 75 episodes (17 min) with strong safety guarantees and simple reward functions, greatly alleviating the need for simulation.