Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies
Tabitha E. Lee Jialiang Alan Zhao Amrita S. Sawhney Siddharth Girdhar Oliver Kroemer Tabitha E. Lee Jialiang Alan Zhao Amrita S. Sawhney Siddharth Girdhar Oliver Kroemer
We present CREST, an approach for causal reasoning in simulation to learn the relevant state space for a robot manipulation policy. Our approach conducts interventions using internal models, which are simulations with approximate dynamics and simplified assumptions. These interventions elicit the structure between the state and action spaces, enabling construction of neural network policies with o...