One-Shot Reinforcement Learning for Robot Navigation with Interactive Replay

Understand

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment.

• A significant issue with transferring this success to the robotics domain is that interaction with the real world is costly, but training on limited experience is prone to overfitting.
• We present a method for learning to navigate, to a fixed goal and in a known environment, on a mobile robot.
• The robot leverages an interactive world model built from a single traversal of the environment, a pre-trained visual feature encoder, and stochastic environmental augmentation, to demonstrate successful zero-shot transfer under real-world environmental variations without fine-tuning.