text: In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that generalizes well across a wide range of real-world conditions requires far greater quantity and diversity of experience than is practical to collect with a single robot. Fortunately, it is possible for multiple robots to share their experience with one another, and thereby, learn a policy collectively. In this work, we explore distributed and asynchronous policy learning as a means to achieve generalization and improved training times on challenging, real-world manipulation tasks. We propose a distributed and asynchronous version of Guided Policy Search and use it to demonstrate collective policy learning on a vision-based door opening task using four robots. We show that it achieves better generalization, utilization, and training times than the single robot alternative.
  @cite_16: With the increase in available data parallel machine learning has become an increasingly pressing problem. In this paper we present the first parallel stochastic gradient descent algorithm including a detailed analysis and experimental evidence. Unlike prior work on parallel optimization algorithms [5, 7] our variant comes with parallel acceleration guarantees and it poses no overly tight latency constraints, which might only be available in the multicore setting. Our analysis introduces a novel proof technique — contractive mappings to quantify the speed of convergence of parameter distributions to their asymptotic limits. As a side effect this answers the question of how quickly stochastic gradient descent algorithms reach the asymptotically normal regime [1, 8].
  @cite_26: We present a method for training recurrent neural networks to act as near-optimal feedback controllers. It is able to generate stable and realistic behaviors for a range of dynamical systems and tasks - swimming, flying, biped and quadruped walking with different body morphologies. It does not require motion capture or task-specific features or state machines. The controller is a neural network, having a large number of feed-forward units that learn elaborate state-action mappings, and a small number of recurrent units that implement memory states beyond the physical system state. The action generated by the network is defined as velocity. Thus the network is not learning a control policy, but rather the dynamics under an implicit policy. Essential features of the method include interleaving supervised learning with trajectory optimization, injecting noise during training, training for unexpected changes in the task specification, and using the trajectory optimizer to obtain optimal feedback gains in addition to optimal actions.
summary: Distributed systems have long been an important subject in deep learning @cite_16 . While distributed asynchronous architectures have previously been used to optimize controllers for simulated characters @cite_26 , our work is, to the best of our knowledge, the first to experimentally explore distributed asynchronous training of deep neural network policies for real-world robotic control. In our work, we parallelize both data collection and neural network policy training across multiple machines.