Knowledge Commons of Institute of Automation,CAS
Meta-Imitation Learning by Watching Video Demonstrations | |
Li, Jiayi1,2; Lu, Tao2; Cao, Xiaoge1,2; Cai, Yinghao2; Wang, Shuo1,2,3 | |
2022-05 | |
会议名称 | The Tenth International Conference on Learning Representations |
会议日期 | 2022.4.25-2022.4.29 |
会议地点 | 线上 |
摘要 | Meta-Imitation Learning is a promising technique for the robot to learn a new task from observing one or a few human demonstrations. However, it usually requires a significant number of demonstrations both from humans and robots during the meta-training phase, which is a laborious and hard work for data collection, especially in recording the actions and specifying the correspondence between human and robot. In this work, we present an approach of meta-imitation learning by watching video demonstrations from humans. In comparison to prior works, our approach is able to translate human videos into practical robot demonstrations and train the meta-policy with adaptive loss based on the quality of the translated data. Our approach relies only on human videos and does not require robot demonstration, which facilitates data collection and is more in line with human imitation behavior. Experiments reveal that our method achieves the comparable performance to the baseline on fast learning a set of vision-based tasks through watching a single video demonstration. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48539 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Lu, Tao |
作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 3.Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li, Jiayi,Lu, Tao,Cao, Xiaoge,et al. Meta-Imitation Learning by Watching Video Demonstrations[C],2022. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
meta_imitation_learn(8968KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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