Real-Robot Experiments

This section compares our synchronous and asynchronous implementations of ME-PPO, ME-TRPO, and MB-MPO and each of their respective performance in completing three tasks: Reaching, Shape Matching, and Lego Stacking. Further details can be found in the paper.

Reaching

meppo-reach.mp4

ME-PPO

metrpo-reach.mp4

ME-TRPO

mbmpo-reach.mp4

MB-MPO

Shape Matching

meppo-match.mp4

ME-PPO

metrpo-match.mp4

ME-TRPO

mbmpo-match.mp4

MB-MPO

Lego Stacking

meppo-stack.mp4

ME-PPO

metrpo-stack.mp4

ME-TRPO

mbmpo-stack.mp4

MB-MPO