Regularized Hierarchical Policies
for Multitask Transfer in Robotics
Physical Robot Final Stacking
Including human disturbance for randomizing the distribution over initial states.
Visualization for Active Sub-Policy Components
The graph on the top right displays the number of the currently active sub-policy. On the bottom left, we display various parameters describing the system, including the currently active task (with a randomly chosen sequence displayed in each video). The videos elaborate on task decomposition into individual components as well as reuse of components across tasks.
Humanoid Standup (single task)
Humanoid Run (single task)
Execution of All Physical Robot Tasks in the Pile1 Domain
Stack and Leave
All visualizations purely focus on the performance of the hierarchical models presented in the corresponding submission.