RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866914323814678528 |
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| author | Chen, Xiangyu Zhou, Chuhao Liu, Yuxi Yang, Jianfei |
| author_facet | Chen, Xiangyu Zhou, Chuhao Liu, Yuxi Yang, Jianfei |
| contents | Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on pre-collected expert demonstrations and train policies via imitation learning (IL) or offline reinforcement learning (RL). However, obtaining high-quality demonstrations for precision tasks is difficult and time-consuming, while offline RL commonly suffers from distribution shifts and low data efficiency. We introduce a Role-Model Reinforcement Learning (RM-RL) framework that unifies online and offline training in real-world environments. The key idea is a role-model strategy that automatically generates labels for online training data using approximately optimal actions, eliminating the need for human demonstrations. RM-RL reformulates policy learning as supervised training, reducing instability from distribution mismatch and improving efficiency. A hybrid training scheme further leverages online role-model data for offline reuse, enhancing data efficiency through repeated sampling. Extensive experiments show that RM-RL converges faster and more stably than existing RL methods, yielding significant gains in real-world manipulation: 53% improvement in translation accuracy and 20% in rotation accuracy. Finally, we demonstrate the successful execution of a challenging task, precisely placing a cell plate onto a shelf, highlighting the framework's effectiveness where prior methods fail. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_15189 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation Chen, Xiangyu Zhou, Chuhao Liu, Yuxi Yang, Jianfei Robotics Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on pre-collected expert demonstrations and train policies via imitation learning (IL) or offline reinforcement learning (RL). However, obtaining high-quality demonstrations for precision tasks is difficult and time-consuming, while offline RL commonly suffers from distribution shifts and low data efficiency. We introduce a Role-Model Reinforcement Learning (RM-RL) framework that unifies online and offline training in real-world environments. The key idea is a role-model strategy that automatically generates labels for online training data using approximately optimal actions, eliminating the need for human demonstrations. RM-RL reformulates policy learning as supervised training, reducing instability from distribution mismatch and improving efficiency. A hybrid training scheme further leverages online role-model data for offline reuse, enhancing data efficiency through repeated sampling. Extensive experiments show that RM-RL converges faster and more stably than existing RL methods, yielding significant gains in real-world manipulation: 53% improvement in translation accuracy and 20% in rotation accuracy. Finally, we demonstrate the successful execution of a challenging task, precisely placing a cell plate onto a shelf, highlighting the framework's effectiveness where prior methods fail. |
| title | RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.15189 |