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Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which the parameters are randomized simultaneously to train a robust model for use in the real world. However, the combined randomization of many parameters increases the task difficulty and might result in sub-optimal policies. To address this problem and to provide a more flexible training process, we propose Continual Domain Randomization (CDR) for RL that combines domain randomization with continual learning to enable sequential training in simulation on a subset of randomization parameters at a time. Starting from a model trained in a non-randomized simulation where the task is easier to solve, the model is trained on a sequence of randomizations, and continual learning is employed to remember the effects of previous randomizations. Our robotic reaching and grasping tasks experiments show that the model trained in this fashion learns effectively in simulation and performs robustly on the real robot while matching or outperforming baselines that employ combined randomization or sequential randomization without continual learning. Our code and videos are available at https://continual-dr.github.io/., Comment: Accepted at IROS 2024. Equal contribution from first two authors

Choosing an appropriate representation of the environment for the underlying decision-making process of the reinforcement learning agent is not always straightforward. The state representation should be inclusive enough to allow the agent to informatively decide on its actions and disentangled enough to simplify policy training and the corresponding sim2real transfer. Given this outlook, this work examines the effect of various representations in incentivizing the agent to solve a specific robotic task: antipodal and planar object grasping. A continuum of state representations is defined, starting from hand-crafted numerical states to encoded image-based representations, with decreasing levels of induced task-specific knowledge. The effects of each representation on the ability of the agent to solve the task in simulation and the transferability of the learned policy to the real robot are examined and compared against a model-based approach with complete system knowledge. The results show that reinforcement learning agents using numerical states can perform on par with non-learning baselines. Furthermore, we find that agents using image-based representations from pre-trained environment embedding vectors perform better than end-to-end trained agents, and hypothesize that separation of representation learning from reinforcement learning can benefit sim2real transfer. Finally, we conclude that incentivizing the state representation with task-specific knowledge facilitates faster convergence for agent training and increases success rates in sim2real robot control., Comment: Accepted to IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2024

Delayed Markov decision processes fulfill the Markov property by augmenting the state space of agents with a finite time window of recently committed actions. In reliance with these state augmentations, delay-resolved reinforcement learning algorithms train policies to learn optimal interactions with environments featured with observation or action delays. Although such methods can directly be trained on the real robots, due to sample inefficiency, limited resources or safety constraints, a common approach is to transfer models trained in simulation to the physical robot. However, robotic simulations rely on approximated models of the physical systems, which hinders the sim2real transfer. In this work, we consider various uncertainties in the modelling of the robot's dynamics as unknown intrinsic disturbances applied on the system input. We introduce a disturbance-augmented Markov decision process in delayed settings as a novel representation to incorporate disturbance estimation in training on-policy reinforcement learning algorithms. The proposed method is validated across several metrics on learning a robotic reaching task and compared with disturbance-unaware baselines. The results show that the disturbance-augmented models can achieve higher stabilization and robustness in the control response, which in turn improves the prospects of successful sim2real transfer., Comment: Submitted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific randomization technique and often on a highly customized robotic system, making it difficult to evaluate different randomization approaches systematically. To address this problem, we define an easy-to-reproduce experimental setup for a robotic reach-and-balance manipulator task, which can serve as a benchmark for comparison. We compare four randomization strategies with three randomized parameters both in simulation and on a real robot. Our results show that more randomization helps in Sim2Real transfer, yet it can also harm the ability of the algorithm to find a good policy in simulation. Fully randomized simulations and fine-tuning show differentiated results and translate better to the real robot than the other approaches tested., Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies for artificial vision and touch, the effective integration of these two sensory modalities in robotic applications still needs to be improved, and several open challenges exist. Taking inspiration from how humans combine visual and haptic perception to perceive object properties and drive the execution of manual tasks, this article summarises the current state of the art of visuo-haptic object perception in robots. Firstly, the biological basis of human multimodal object perception is outlined. Then, the latest advances in sensing technologies and data collection strategies for robots are discussed. Next, an overview of the main computational techniques is presented, highlighting the main challenges of multimodal machine learning and presenting a few representative articles in the areas of robotic object recognition, peripersonal space representation and manipulation. Finally, informed by the latest advancements and open challenges, this article outlines promising new research directions., Comment: published in Autonomous Robots

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially prevalent in robotic applications and can benefit learning if exploited. This work introduces a neural network architecture that combines relational inductive bias and visual feedback to learn an efficient position control policy for robotic manipulation. We derive a graph representation that models the physical structure of the manipulator and combines the robot's internal state with a low-dimensional description of the visual scene generated by an image encoding network. On this basis, a graph neural network trained with reinforcement learning predicts joint velocities to control the robot. We further introduce an asymmetric approach of training the image encoder separately from the policy using supervised learning. Experimental results demonstrate that, for a 2-DoF planar robot in a geometrically simplistic 2D environment, a learned representation of the visual scene can replace access to the explicit coordinates of the reaching target without compromising on the quality and sample efficiency of the policy. We further show the ability of the model to improve sample efficiency for a 6-DoF robot arm in a visually realistic 3D environment., Comment: 8 pages, 7 figures, 1 table. For supplemental material and code, see https://mrcoliva.github.io/relational-inductive-bias-in-vision-based-rl