Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning

摘要

We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approach that combines batch reinforcement learning (RL) with model-predictive control (MPC) by pretraining an ensemble of value functions from demonstration data, and utilizing them online within an uncertainty-aware MPC scheme to ensure robustness to limited data coverage. Our approach is straightforward to integrate with off-the-shelf MPC frameworks and enables learning solely from task space demonstrations with sparsely labeled transitions, while leveraging MPC to ensure smooth joint space motions and constraint satisfaction. We validate the proposed approach through extensive simulated and real-world experiments on a Franka Panda robot performing the robot waiter task and demonstrate robust deployment of value functions learned from 50-100 demonstrations. Furthermore, our approach enables generalization to novel objects not seen during training and can improve upon suboptimal demonstrations. We believe that such a framework can reduce the burden of providing extensive demonstrations and facilitate rapid training of robot manipulators to perform non-prehensile manipulation tasks. Project videos and supplementary material can be found at: https://sites.google.com/view/cvmpc.