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Mastering Visual Continuous Control: Improved Data-Augmented Reinforcement Learning
Denis Yarats · Rob Fergus · Alessandro Lazaric · Lerrel Pinto
Event URL: https://openreview.net/forum?id=L5HKN-IsdSE »

We present DrQ-v2, a model-free reinforcement learning (RL) algorithm for visual continuous control. DrQ-v2 builds on DrQ, an off-policy actor-critic approach that uses data augmentation to learn directly from pixels. We introduce several improvements that yield state-of-the-art results on the DeepMind Control Suite. Notably, DrQ-v2 is able to solve complex humanoid locomotion tasks directly from pixel observations, previously unattained by model-free RL. DrQ-v2 is conceptually simple, easy to implement, and provides significantly better computational footprint compared to prior work, with the majority of tasks taking just 8 hours to train on a single GPU. Finally, we publicly release DrQ-v2's implementation to provide RL practitioners with a strong and computationally efficient baseline.

Author Information

Denis Yarats (New York University)
Rob Fergus (DeepMind / NYU)

Rob Fergus is an Associate Professor of Computer Science at the Courant Institute of Mathematical Sciences, New York University. He received a Masters in Electrical Engineering with Prof. Pietro Perona at Caltech, before completing a PhD with Prof. Andrew Zisserman at the University of Oxford in 2005. Before coming to NYU, he spent two years as a post-doc in the Computer Science and Artificial Intelligence Lab (CSAIL) at MIT, working with Prof. William Freeman. He has received several awards including a CVPR best paper prize, a Sloan Fellowship & NSF Career award and the IEEE Longuet-Higgins prize.

Alessandro Lazaric (INRIA)
Lerrel Pinto (New York University)

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