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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.10940 |
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| _version_ | 1866909355589238784 |
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| author | Liang, Anthony Thomason, Jesse Bıyık, Erdem |
| author_facet | Liang, Anthony Thomason, Jesse Bıyık, Erdem |
| contents | Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast, humans are able to visually attend to task-relevant objects and areas. Based on this insight, we introduce Visual Saliency-Guided Reinforcement Learning (ViSaRL). Using ViSaRL to learn visual representations significantly improves the success rate, sample efficiency, and generalization of an RL agent on diverse tasks including DeepMind Control benchmark, robot manipulation in simulation and on a real robot. We present approaches for incorporating saliency into both CNN and Transformer-based encoders. We show that visual representations learned using ViSaRL are robust to various sources of visual perturbations including perceptual noise and scene variations. ViSaRL nearly doubles success rate on the real-robot tasks compared to the baseline which does not use saliency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_10940 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | ViSaRL: Visual Reinforcement Learning Guided by Human Saliency Liang, Anthony Thomason, Jesse Bıyık, Erdem Robotics Machine Learning Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast, humans are able to visually attend to task-relevant objects and areas. Based on this insight, we introduce Visual Saliency-Guided Reinforcement Learning (ViSaRL). Using ViSaRL to learn visual representations significantly improves the success rate, sample efficiency, and generalization of an RL agent on diverse tasks including DeepMind Control benchmark, robot manipulation in simulation and on a real robot. We present approaches for incorporating saliency into both CNN and Transformer-based encoders. We show that visual representations learned using ViSaRL are robust to various sources of visual perturbations including perceptual noise and scene variations. ViSaRL nearly doubles success rate on the real-robot tasks compared to the baseline which does not use saliency. |
| title | ViSaRL: Visual Reinforcement Learning Guided by Human Saliency |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2403.10940 |