MSDP pretrains a transformer encoder via masked multisensory reconstruction and feeds the embeddings into an asymmetric actor-critic RL setup, yielding faster learning and high real-robot success rates with only 6,000 interactions.
Learning the peg-into-hole assembly operation with a connectionist reinforcement technique,
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Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
MSDP pretrains a transformer encoder via masked multisensory reconstruction and feeds the embeddings into an asymmetric actor-critic RL setup, yielding faster learning and high real-robot success rates with only 6,000 interactions.