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CoRL2021読み会のライトニングトーク "XIRL: Cross-embodiment Inverse Reinforcement Learning" の紹介スライド.
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XIRL: Cross-embodiment Inverse Reinforcement Learning (CoRL2021読み会)
1.
1 © OMRON Corporation
All Rights Reserved この論文の貢献:ロボ身体に依存しないRL報酬を獲得する方法を提案! XIRL: Cross-embodiment Inverse Reinforcement Learning (Debidatta Dwibedi @ Robotics at Google, Jeannette Bohg @ Stanford Univ. et al.) 身体性の異なるエキスパートデータ 身体性に依存しない潜在空間で報酬を獲得 新しい身体でより早く学習できる! Abstract 報酬を設計 𝝓 エンコーダ どうやって学習するか?
2.
2 © OMRON Corporation
All Rights Reserved 報酬設計の方法 Approach 動画中で共通してキーとなる瞬間を捉えるように エンコーダを学習する 2つの動画データの全フレームが, embedding 空間で 1対1対応するように エンコーダ𝜙を学習する Dwibedi et al. Temporal Cycle-Consistency Learning, CVPR’19
3.
3 © OMRON Corporation
All Rights Reserved 報酬設計の方法 Approach 動画中で共通してキーとなる瞬間を捉えるように エンコーダを学習する 2つの動画データの全フレームが, embedding 空間で 1対1対応するように エンコーダ𝜙を学習する Dwibedi et al. Temporal Cycle-Consistency Learning, CVPR’19 報酬 = L2 距離 Result タスクの遂行度を反映しつつ dense な報酬を獲得できた ゴール状態 現在の状態 獲得した embedding 空間上で 現在の状態 と ゴールの状態 の L2 距離を報酬とする
4.
4 © OMRON Corporation
All Rights Reserved 箱を押すタスクで,新しい身体でより早く学習できた! 学習結果 エキスパート 新しい身体 エキスパート 新しい身体
5.
5 © OMRON Corporation
All Rights Reserved まとめ • エキスパート動画のキーフレームを抽出するようエンコーダを自己学習すると,タスク依存 の embedding を獲得できる.(個人的おもしろポイント) • 獲得した embedding を報酬に用いると,身体性に依存しない dense な報酬となり,新しい 身体性のロボットで早く学習できる. • Youtube などたくさんの人の動作データを,ロボットに転用できるかも Imitation learning
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