Efficiently Learning Manipulations by Selecting Structured Skill Representations

Abstract

A key challenge in learning to perform manipu- lation tasks is selecting a suitable skill representation. While specific skill representations are often easier to learn, they are often only suitable for a narrow set of tasks. In most prior works, roboticists manually provide the robot with a suitable skill representation to use e.g. a neural network or DMPs. By contrast, we propose to allow the robot to select the most appropriate skill representation for the underlying task. Given the large space of skill representations, we utilize a single demonstration to select a small set of potential task-relevant representations. This set is then further refined using reinforcement learning to select the most suitable skill representation. Experiments in both simulation and real world show how our proposed approach leads to improved sample efficiency and enables directly learning on the real robot.