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How to train your robot with deep reinforcement learning: lessons we have learned
Open accessAbstract
Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low-level sensor observations. Although a large portion of deep RL research has focused on applications in video games and simulated control, which does not connect with the constraints of learning in real environments, deep RL has also demonstrated promise in enabling physical robots to learn complex skills in the real world. At the same time, real-world robotics provides an appealing domain for evaluating such algorithms, as it connects directly to how humans learn: as an embodied agent in the real world. Learning to perceive and move in the real world presents numerous challenges, some of which are easier to address than others, and some of which are often not considered in RL research that focuses only on simulated domains. In this review article, we present a number of case studies involving robotic deep RL. Building off of these case studies, we discuss commonly perceived challenges in deep RL and how they have been addressed in these works. We also provide an overview of other outstanding challenges, many of which are unique to the real-world robotics setting and are not often the focus of mainstream RL research. Our goal is to provide a resource both for roboticists and machine learning researchers who are interested in furthering the progress of deep RL in the real world.
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“POMDPs more accurately describe real-world applications of robotic systems [7] and are a major tool for training modern DRL and DIL end-to-end policy controllers.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
Experimental — accuracy not yet measuredThe source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
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“First, DRL is data-hungry and trained through trial and error which requires human involvement for constantly resetting the environment and preventing unsafe actions [7].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
Experimental — accuracy not yet measuredThe source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
In the citing paper
“(4) high-dimensional/continuous state settings exacerbate the challenge of exploration and further affect data efficiency.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
Experimental — accuracy not yet measuredThe source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
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“We can also utilise demonstration data to further reduce the distribution shift, as it causes the model to learn the important part of the state space [7].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
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“In recent years, data-driven approaches with deep learning (DL) [6], such as deep reinforcement learning (DRL) [7] and deep imitation learning (DIL) [8], have demonstrated many advantages in performing task-level and skill-level control problems (Section 3.3).”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
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“(3) DRL algorithms often come with a set of hyper-parameters, and the algorithms are often sensitive to these hyper-parameters and the application domain”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
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“(2) data efficiency (both sampling and learning efficiency) is a major concern for such complex settings”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
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“MBRL is generally more data-efficient than MFRL algorithms and it generalises better with large and diverse data [7].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [7]
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“(1) theoretically, we have no guarantee of convergence of the DRL algorithms”
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Metadata
- Authors
- Ibarz, J., Tan, J., Finn, C., Kalakrishnan, M., Pastor, P., & Levine, S.
- Affiliations
- Google (United States) (US)
- Everyday Robots, X, The Moonshot Factory, Mountain View, CA, USA
- Corresponding author
- Ibarz, Julian
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2021-01-31
- Volume
- 40
- Issue
- 4-5
- Pages
- 698-721
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W3126321819
- Cited by
- 570
- References
- 193
- Citations by year
- 2026: 63 · 2025: 123 · 2024: 145 · 2023: 112 · 2022: 89 · 2021: 38
- FWCI
- 33.92
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Licence
- Locations
- The International Journal of Robotics Research (publishedVersion, cc-by-nc)
- arXiv (Cornell University) (submittedVersion)
- arXiv (Cornell University)
- Topics
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Computer Science › Artificial Intelligence › Domain Adaptation and Few-Shot Learning
- Keywords
- deep reinforcement learning, robot learning, embodied agents, physical robots, robot skill learning
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
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