Learning from Simulation, Racing in Reality
Eugenio Chisari Alexander Liniger Alisa Rupenyan Luc Van Gool John Lygeros Eugenio Chisari Alexander Liniger Alisa Rupenyan Luc Van Gool John Lygeros
We present a reinforcement learning-based solution to autonomously race on a miniature race car platform. We show that a policy that is trained purely in simulation using a relatively simple vehicle model, including model randomization, can be successfully transferred to the real robotic setup. We achieve this by using a novel policy output regularization approach and a lifted action space which e...