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Deep Reinforcement Learning in the Real World - Sergey Levine

Institute for Advanced Study via YouTube

Overview

This workshop on Deep Reinforcement Learning in the Real World aims to provide an understanding of handling unstructured environments using deep learning and formalizing behavior through reinforcement learning. The course covers topics such as off-policy model-free learning, solving for the Q-function, QT-Opt for off-policy Q-learning at scale, grasping strategies, and model-based reinforcement learning for dexterous manipulation. The intended audience for this workshop includes individuals interested in advancing their knowledge of reinforcement learning and its applications in real-world scenarios. The teaching method involves lectures and discussions led by the speaker, Sergey Levine, from the University of Berkeley.

Syllabus

Intro
Deep learning helps us handle unstructured environments
Reinforcement learning provides a formalism for behavior
RL has a big problem
Off-policy RL with large datasets
Off-policy model-free learning
How to solve for the Q-function?
QT-Opt: off-policy Q-learning at scale
Grasping with QT-Opt
Emergent grasping strategies
So what's the problem?
How to stop training on garbage?
How well does it work?
Off-policy model-based reinforcement learning
High-level algorithm outline
Model-based RL for dexterous manipulation
Q-Functions (can) learn models
Temporal difference models
Optimizing over valid states

Taught by

Institute for Advanced Study

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