End-to-End Training of Deep Visuomotor Policies

  title={End-to-End Training of Deep Visuomotor Policies},
  author={Sergey Levine and Chelsea Finn and Trevor Darrell and Pieter Abbeel},
  journal={Journal of Machine Learning Research},
Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-toend provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that… CONTINUE READING
Highly Influential
This paper has highly influenced 44 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 1,042 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 548 extracted citations

Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 9 Excerpts
Highly Influenced

Imitation from Observation: Learning to Imitate Behaviors from Raw Video via Context Translation

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 6 Excerpts
Method Support
Highly Influenced

Neural Information Processing

Lecture Notes in Computer Science • 2018
View 10 Excerpts
Highly Influenced

Neural Networks and Deep Learning

Springer International Publishing • 2018
View 6 Excerpts
Highly Influenced

Seamless Integration and Coordination of Cognitive Skills in Humanoid Robots: A Deep Learning Approach

IEEE Transactions on Cognitive and Developmental Systems • 2018
View 8 Excerpts
Highly Influenced

Collective robot reinforcement learning with distributed asynchronous guided policy search

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2017
View 10 Excerpts
Highly Influenced

1,042 Citations

Citations per Year
Semantic Scholar estimates that this publication has 1,042 citations based on the available data.

See our FAQ for additional information.