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Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | and then the robot figured out | https://karpathy.ai/lexicap/0010-large.html#00:09:34.560 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | what the person was actually after was a backflip. | https://karpathy.ai/lexicap/0010-large.html#00:09:36.020 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And I'd imagine the same would be true | https://karpathy.ai/lexicap/0010-large.html#00:09:38.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | for things like more interactive robots, | https://karpathy.ai/lexicap/0010-large.html#00:09:40.040 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | that the robot would figure out over time, | https://karpathy.ai/lexicap/0010-large.html#00:09:43.120 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | oh, this kind of thing apparently is appreciated more | https://karpathy.ai/lexicap/0010-large.html#00:09:45.100 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | than this other kind of thing. | https://karpathy.ai/lexicap/0010-large.html#00:09:48.160 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | So when I first picked up Sutton's, | https://karpathy.ai/lexicap/0010-large.html#00:09:50.200 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Richard Sutton's reinforcement learning book, | https://karpathy.ai/lexicap/0010-large.html#00:09:54.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | before sort of this deep learning, | https://karpathy.ai/lexicap/0010-large.html#00:09:56.200 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | before the reemergence of neural networks | https://karpathy.ai/lexicap/0010-large.html#00:10:01.280 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | as a powerful mechanism for machine learning, | https://karpathy.ai/lexicap/0010-large.html#00:10:03.360 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | RL seemed to me like magic. | https://karpathy.ai/lexicap/0010-large.html#00:10:05.640 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | It was beautiful. | https://karpathy.ai/lexicap/0010-large.html#00:10:08.320 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | So that seemed like what intelligence is, | https://karpathy.ai/lexicap/0010-large.html#00:10:10.280 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | RL reinforcement learning. | https://karpathy.ai/lexicap/0010-large.html#00:10:13.560 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | So how do you think we can possibly learn anything | https://karpathy.ai/lexicap/0010-large.html#00:10:15.520 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | about the world when the reward for the actions | https://karpathy.ai/lexicap/0010-large.html#00:10:20.320 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | is delayed, is so sparse? | https://karpathy.ai/lexicap/0010-large.html#00:10:22.980 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Like where is, why do you think RL works? | https://karpathy.ai/lexicap/0010-large.html#00:10:25.840 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Why do you think you can learn anything | https://karpathy.ai/lexicap/0010-large.html#00:10:30.560 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | under such sparse rewards, | https://karpathy.ai/lexicap/0010-large.html#00:10:32.800 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | whether it's regular reinforcement learning | https://karpathy.ai/lexicap/0010-large.html#00:10:35.040 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | or deep reinforcement learning? | https://karpathy.ai/lexicap/0010-large.html#00:10:36.880 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | What's your intuition? | https://karpathy.ai/lexicap/0010-large.html#00:10:38.640 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | The counterpart of that is why is RL, | https://karpathy.ai/lexicap/0010-large.html#00:10:40.580 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | why does it need so many samples, | https://karpathy.ai/lexicap/0010-large.html#00:10:44.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | so many experiences to learn from? | https://karpathy.ai/lexicap/0010-large.html#00:10:47.240 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Because really what's happening is | https://karpathy.ai/lexicap/0010-large.html#00:10:49.640 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | when you have a sparse reward, | https://karpathy.ai/lexicap/0010-large.html#00:10:50.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | you do something maybe for like, I don't know, | https://karpathy.ai/lexicap/0010-large.html#00:10:53.040 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | you take 100 actions and then you get a reward. | https://karpathy.ai/lexicap/0010-large.html#00:10:55.200 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And maybe you get like a score of three. | https://karpathy.ai/lexicap/0010-large.html#00:10:57.440 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And I'm like okay, three, not sure what that means. | https://karpathy.ai/lexicap/0010-large.html#00:10:59.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | You go again and now you get two. | https://karpathy.ai/lexicap/0010-large.html#00:11:03.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And now you know that that sequence of 100 actions | https://karpathy.ai/lexicap/0010-large.html#00:11:05.040 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | that you did the second time around | https://karpathy.ai/lexicap/0010-large.html#00:11:07.160 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | somehow was worse than the sequence of 100 actions | https://karpathy.ai/lexicap/0010-large.html#00:11:08.320 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | you did the first time around. | https://karpathy.ai/lexicap/0010-large.html#00:11:10.600 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | But that's tough to now know which one of those | https://karpathy.ai/lexicap/0010-large.html#00:11:11.920 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | were better or worse. | https://karpathy.ai/lexicap/0010-large.html#00:11:14.440 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Some might have been good and bad in either one. | https://karpathy.ai/lexicap/0010-large.html#00:11:15.280 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And so that's why it needs so many experiences. | https://karpathy.ai/lexicap/0010-large.html#00:11:17.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | But once you have enough experiences, | https://karpathy.ai/lexicap/0010-large.html#00:11:19.840 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | effectively RL is teasing that apart. | https://karpathy.ai/lexicap/0010-large.html#00:11:21.280 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | It's trying to say okay, what is consistently there | https://karpathy.ai/lexicap/0010-large.html#00:11:23.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | when you get a higher reward | https://karpathy.ai/lexicap/0010-large.html#00:11:26.640 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | and what's consistently there when you get a lower reward? | https://karpathy.ai/lexicap/0010-large.html#00:11:27.840 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And then kind of the magic of sometimes | https://karpathy.ai/lexicap/0010-large.html#00:11:30.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | the policy gradient update is to say | https://karpathy.ai/lexicap/0010-large.html#00:11:32.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | now let's update the neural network | https://karpathy.ai/lexicap/0010-large.html#00:11:34.720 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | to make the actions that were kind of present | https://karpathy.ai/lexicap/0010-large.html#00:11:37.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | when things are good more likely | https://karpathy.ai/lexicap/0010-large.html#00:11:39.160 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | and make the actions that are present | https://karpathy.ai/lexicap/0010-large.html#00:11:41.460 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | when things are not as good less likely. | https://karpathy.ai/lexicap/0010-large.html#00:11:43.080 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | So that is the counterpoint, | https://karpathy.ai/lexicap/0010-large.html#00:11:45.140 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | but it seems like you would need to run it | https://karpathy.ai/lexicap/0010-large.html#00:11:47.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | a lot more than you do. | https://karpathy.ai/lexicap/0010-large.html#00:11:49.540 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Even though right now people could say | https://karpathy.ai/lexicap/0010-large.html#00:11:50.920 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | that RL is very inefficient, | https://karpathy.ai/lexicap/0010-large.html#00:11:52.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | but it seems to be way more efficient | https://karpathy.ai/lexicap/0010-large.html#00:11:54.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | than one would imagine on paper. | https://karpathy.ai/lexicap/0010-large.html#00:11:56.320 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | That the simple updates to the policy, | https://karpathy.ai/lexicap/0010-large.html#00:11:58.880 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | the policy gradient, that somehow you can learn, | https://karpathy.ai/lexicap/0010-large.html#00:12:02.040 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | exactly you just said, what are the common actions | https://karpathy.ai/lexicap/0010-large.html#00:12:04.960 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | that seem to produce some good results? | https://karpathy.ai/lexicap/0010-large.html#00:12:07.740 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | That that somehow can learn anything. | https://karpathy.ai/lexicap/0010-large.html#00:12:09.820 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | It seems counterintuitive at least. | https://karpathy.ai/lexicap/0010-large.html#00:12:12.800 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Is there some intuition behind it? | https://karpathy.ai/lexicap/0010-large.html#00:12:15.600 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | Yeah, so I think there's a few ways to think about this. | https://karpathy.ai/lexicap/0010-large.html#00:12:16.920 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | The way I tend to think about it mostly originally, | https://karpathy.ai/lexicap/0010-large.html#00:12:21.920 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | so when we started working on deep reinforcement learning | https://karpathy.ai/lexicap/0010-large.html#00:12:26.440 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | here at Berkeley, which was maybe 2011, 12, 13, | https://karpathy.ai/lexicap/0010-large.html#00:12:29.080 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | around that time, John Schulman was a PhD student | https://karpathy.ai/lexicap/0010-large.html#00:12:32.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | initially kind of driving it forward here. | https://karpathy.ai/lexicap/0010-large.html#00:12:36.160 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And the way we thought about it at the time was | https://karpathy.ai/lexicap/0010-large.html#00:12:39.520 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | if you think about rectified linear units | https://karpathy.ai/lexicap/0010-large.html#00:12:44.080 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | or kind of rectifier type neural networks, | https://karpathy.ai/lexicap/0010-large.html#00:12:47.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | what do you get? | https://karpathy.ai/lexicap/0010-large.html#00:12:50.240 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | You get something that's piecewise linear feedback control. | https://karpathy.ai/lexicap/0010-large.html#00:12:51.080 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And if you look at the literature, | https://karpathy.ai/lexicap/0010-large.html#00:12:55.080 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | linear feedback control is extremely successful, | https://karpathy.ai/lexicap/0010-large.html#00:12:57.120 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | can solve many, many problems surprisingly well. | https://karpathy.ai/lexicap/0010-large.html#00:12:59.360 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | I remember, for example, when we did helicopter flight, | https://karpathy.ai/lexicap/0010-large.html#00:13:03.720 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | if you're in a stationary flight regime, | https://karpathy.ai/lexicap/0010-large.html#00:13:05.700 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | not a non stationary, but a stationary flight regime | https://karpathy.ai/lexicap/0010-large.html#00:13:07.320 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | like hover, you can use linear feedback control | https://karpathy.ai/lexicap/0010-large.html#00:13:10.440 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | to stabilize a helicopter, very complex dynamical system, | https://karpathy.ai/lexicap/0010-large.html#00:13:12.520 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | but the controller is relatively simple. | https://karpathy.ai/lexicap/0010-large.html#00:13:15.580 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And so I think that's a big part of it is that | https://karpathy.ai/lexicap/0010-large.html#00:13:18.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | if you do feedback control, even though the system | https://karpathy.ai/lexicap/0010-large.html#00:13:20.660 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | you control can be very, very complex, | https://karpathy.ai/lexicap/0010-large.html#00:13:23.220 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | often relatively simple control architectures | https://karpathy.ai/lexicap/0010-large.html#00:13:25.000 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | can already do a lot. | https://karpathy.ai/lexicap/0010-large.html#00:13:28.760 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | But then also just linear is not good enough. | https://karpathy.ai/lexicap/0010-large.html#00:13:30.560 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | And so one way you can think of these neural networks | https://karpathy.ai/lexicap/0010-large.html#00:13:32.600 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | is that sometimes they tile the space, | https://karpathy.ai/lexicap/0010-large.html#00:13:35.120 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | which people were already trying to do more by hand | https://karpathy.ai/lexicap/0010-large.html#00:13:37.120 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | or with finite state machines, | https://karpathy.ai/lexicap/0010-large.html#00:13:39.480 |
Pieter Abbeel: Deep Reinforcement Learning | Lex Fridman Podcast #10 | say this linear controller here, | https://karpathy.ai/lexicap/0010-large.html#00:13:41.000 |
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