  We present Bayesian Controller Fusion (BCF): a hybrid control strategy that
combines the strengths of traditional hand-crafted controllers and model-free
deep reinforcement learning (RL). BCF thrives in the robotics domain, where
reliable but suboptimal control priors exist for many tasks, but RL from
scratch remains unsafe and data-inefficient. By fusing uncertainty-aware
distributional outputs from each system, BCF arbitrates control between them,
exploiting their respective strengths. We study BCF on two real-world robotics
tasks involving navigation in a vast and long-horizon environment, and a
complex reaching task that involves manipulability maximisation. For both these
domains, simple handcrafted controllers exist that can solve the task at hand
in a risk-averse manner but do not necessarily exhibit the optimal solution
given limitations in analytical modelling, controller miscalibration and task
variation. As exploration is naturally guided by the prior in the early stages
of training, BCF accelerates learning, while substantially improving beyond the
performance of the control prior, as the policy gains more experience. More
importantly, given the risk-aversity of the control prior, BCF ensures safe
exploration and deployment, where the control prior naturally dominates the
action distribution in states unknown to the policy. We additionally show BCF's
applicability to the zero-shot sim-to-real setting and its ability to deal with
out-of-distribution states in the real world. BCF is a promising approach
towards combining the complementary strengths of deep RL and traditional
robotic control, surpassing what either can achieve independently. The code and
supplementary video material are made publicly available at
https://krishanrana.github.io/bcf.
