Dual-Arm Adversarial Robot Learning

TL;DR

This paper explores dual-arm robot setups as a promising platform for safe, scalable, and generalizable real-world robot learning, emphasizing adversarial methods to enhance exploration and safety.

Contribution

It introduces dual-arm configurations for robot learning and discusses how adversarial learning can improve exploration, safety, and generalization in real-world applications.

Findings

Dual-arm setups facilitate safe data collection and environment resetting.

Adversarial learning can enhance exploration and generalization.

Discussion of challenges and future research directions in real-world robot learning.

Abstract

Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have been explored in simulation, real-world robot learning research seems to be still limited. This is due to the additional challenges encountered in the real-world, such as noisy sensors and actuators, safe exploration, non-stationary dynamics, autonomous environment resetting as well as the cost of running experiments for long periods of time. Unless we develop scalable solutions to these problems, learning complex tasks involving hand-eye coordination and rich contacts will remain an untouched vision that is only feasible in controlled lab environments. We propose dual-arm settings as platforms for robot learning. Such settings enable safe data collection for acquiring manipulation skills as well as training perception modules in a robot-supervised manner. They also ease the processes of resetting the environment. Furthermore, adversarial learning could potentially boost the generalization capability of robot learning methods by maximizing the exploration based on game-theoretic objectives while ensuring safety based on collaborative task spaces. In this paper, we will discuss the potential benefits of this setup as well as the challenges and research directions that can be pursued.