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Reinforcement Learning in Robotics

This paper explores the application of Reinforcement Learning (RL) in robotics, focusing on the transition from simulated environments to real-world deployment and addressing the challenges of the 'reality gap.' The study demonstrates that combining deep RL with model-based planning significantly improves success rates and reduces training time. The findings suggest that hybrid approaches are crucial for effective and safe robotic learning in dynamic environments.

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Bharat Bhati
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23 views3 pages

Reinforcement Learning in Robotics

This paper explores the application of Reinforcement Learning (RL) in robotics, focusing on the transition from simulated environments to real-world deployment and addressing the challenges of the 'reality gap.' The study demonstrates that combining deep RL with model-based planning significantly improves success rates and reduces training time. The findings suggest that hybrid approaches are crucial for effective and safe robotic learning in dynamic environments.

Uploaded by

Bharat Bhati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Research Paper 4: Reinforcement Learning in Robotics: From Simulation to Real-World Deployment

Abstract
Reinforcement Learning (RL) enables robots to learn complex tasks through trial and error. This paper investigates the transition of RL
from simulated environments (e.g., MuJoCo, Gazebo) to real-world robotics, addressing the "reality gap." We evaluate domain
randomization, sim-to-real transfer techniques, and safety constraints. Our experiments with a 6-DOF robotic arm show that combining
deep RL with model-based planning reduces deployment time by 60%. We conclude that hybrid approaches are essential for scalable,
safe robotic learning.

1. Introduction
Robots traditionally rely on pre-programmed behaviors. RL allows adaptive learning, but real-world training is costly and dangerous.
Simulation offers a solution, but discrepancies between simulation and reality limit transferability.

2. Literature Review

Deep Q-Networks (DQN): Mnih et al. (2015) for discrete actions.


Policy Gradient Methods: PPO, SAC for continuous control.
Sim-to-Real Techniques
:
Domain Randomization (Tobin et al., 2017)
Transfer Learning (Rusu et al., 2016)
System Identification and Model Predictive Control (MPC)

Safety in RL: Constrained Policy Optimization (Achiam et al., 2017).

3. Methodology

Simulation: Trained PPO agent in PyBullet for pick-and-place tasks.


Domain Randomization: Varied friction, lighting, object textures.
Real Robot: UR5 arm with RGB-D camera.
Hybrid Approach: RL for high-level planning, MPC for low-level control.
Metrics: Success rate, training time, safety violations.

4. Results and Discussion

Pure sim-to-real: 45% success rate due to reality gap.


With domain randomization: 68% success.
Hybrid RL+MPC: 89% success, 60% less training time.
Safety: No physical damage with MPC constraints.
Challenges: Sensor noise, actuator delays, reward shaping.
5. Conclusion
While pure RL struggles in real-world deployment, hybrid architectures bridge the gap. Future work should focus on uncertainty-aware
RL and lifelong learning for dynamic environments.

References

Mnih, V., et al. (2015). Human-level Control through Deep Reinforcement Learning. Nature.
Tobin, J., et al. (2017). Domain Randomization for Transferring Deep Neural Networks. IEEE/RSJ IROS.
Achiam, J., et al. (2017). Constrained Policy Optimization. ICML.

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