The authors introduce Success Guided Sampling (SGS), which estimates a policy’s success rate across task configurations and changes the reset distribution during training.
Adaptive sampling helps million-environment robot training solve harder tasks
Success Guided Sampling directs simulated practice toward configurations of intermediate difficulty, improving large-scale learning for locomotion and robotic assembly.
Big Tech
Octi Zhang · Mateo Guaman Castro · Patrick Yin · Ignacio Dagnino · Abhishek Gupta · Rosario Scalise · +1 more
University of Washington · NVIDIA
Research Digest··3 min read
Zhang et al.
Why this paper
From NVIDIA and University of Washington
In one line
Sampling task configurations where a policy has moderate success rates lets massively parallel robot RL solve harder tasks.
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