IS THE WORLD A SIMULATION HOW TOThe performance effect of using 8 million simulated samples of procedural objects with no randomization and various amounts of real data.īefore we consider introducing simulated experience, what does it take for our robots to learn to reliably grasp such not-before-seen objects with only real-world experience? In a previous post, we discussed how the Google Brain team and X’s robotics teams teach robots how to grasp a variety of ordinary objects by just using images from a single monocular camera. This approach can enable real robots to grasp large of variety physical objects, unseen during training, with a high degree of proficiency. In this post, we describe how learning in simulation, in our case PyBullet, and using domain adaptation methods such as machine learning methods that deal with the simulation-to-reality domain shift, can accelerate learning of robotic grasping in the real world. Although a number of recent works have sought to address the reality gap in robotics, through techniques such as machine learning-based domain adaptation ( Tzeng et al.) and randomization of simulated environments ( Sadeghi and Levine), effective transfer in robotic manipulation has been limited to relatively simple tasks, such as grasping rectangular, brightly-colored objects ( Tobin et al. and James et al.) and free-space motion ( Christiano et al.). These advances required a rethinking of the approaches used to solve the simulation-to-reality domain shift problem for robotic manipulation as well. Ganin et al. and Bousmalis and Trigeorgis et al. focus on feature-level domain adaptation. For example, Shrivastava et al. and Bousmalis et al. explored pixel-level domain adaptation. Recent advances in closing the reality gap with deep learning in computer vision for tasks such as object classification and pose estimation provide promising solutions. Visual perception often constitutes the widest part of the reality gap: while simulated images continue to improve in fidelity, the peculiar and pathological regularities of synthetic pictures, and the wide, unpredictable diversity of real-world images, makes bridging the reality gap particularly difficult when the robot must use vision to perceive the world, as is the case for example in many manipulation tasks. The difficulty of transferring simulated experience into the real world is often called the "reality gap." The reality gap is a subtle but important discrepancy between reality and simulation that prevents simulated robotic experience from directly enabling effective real-world performance. The question then becomes: how can a robot utilize simulation to enable it to perform useful tasks in the real world? IS THE WORLD A SIMULATION SIMULATORThis difficulty is compounded by the fact that powerful optimization methods based on deep learning are exceptionally proficient at exploiting simulator flaws: the more powerful the machine learning algorithm, the more likely it is to discover how to "cheat" the simulator to succeed in ways that are infeasible in the real world. In fact, the more we increase the fidelity of our simulations, the more effort we have to expend in order to build them, both in terms of implementing complex physical phenomena and in terms of creating the content (e.g., objects, backgrounds) to populate these simulations. Models trained purely on synthetic data fail to generalize to the real world, as there is a discrepancy between simulated and real environments, in terms of both visual and physical properties. The challenge with simulated training is that even the best available simulators do not perfectly capture reality. Moreover, the resulting data comes with automatically-generated annotations, which is particularly important for tasks where success is hard to infer automatically. Simulating many years of robotic interaction is quite feasible with modern parallel computing, physics simulation, and rendering technology. Fortunately, robots have a powerful tool at their disposal: simulation. Requiring such a lifetime of experience for a learning-based robot system is quite burdensome: the robot would need to operate continuously, autonomously, and initially at a low level of proficiency before it can become useful. However, we also draw on a lifetime of experience, learning over the course of multiple years how to interact with the world around us. Posted by Konstantinos Bousmalis, Senior Research Scientist, and Sergey Levine, Faculty Advisor, Google Brain TeamĮach of us can learn remarkably complex skills that far exceed the proficiency and robustness of even the most sophisticated robots, when it comes to basic sensorimotor skills like grasping.
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