Peter Stone - Efficient Robot Skill Learning
Channel: Secondmind
Date: 2021-05-27

Abstract:
For autonomous robots to operate in the open, dynamically changing world, they will need to be able to learn a robust set of skills from relatively little experience.  This talk begins by introducing Grounded Simulation Learning as a way to bridge the so-called reality gap between simulators and the real world in order to enable transfer learning from simulation to a real robot (sim-to-real).  It then introduces two new algorithms for imitation learning from observation that enable a robot to mimic demonstrated skills from state-only trajectories, without any knowledge of the actions selected by the Demonstrator. Grounded Simulation Learning has led to the fastest known stable walk on a widely used humanoid robot, and imitation learning from observation opens the possibility of robots learning from the vast trove of videos available online.

Preprints: 
The talk covers material in the following published papers on Grounded Simulation Learning [1,2,3] and Imitation Learning from Observation [4,5,6].
[1] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-AAAI17-Hanna.html
[2] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-IROS20-Desai.html
[3] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-IROS20-Karnan.html
[4] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-IJCAI2018-torabi.html
[5] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-IJCAI19b-torabi.html
[6] https://www.cs.utexas.edu/~pstone/Papers/bib2html/b2hd-RAL20-pavse.html

Speaker: 
Peter Stone is a Professor at Department of Computer Science, University of Texas at Austin; and Executive Director at Sony AI America. More info can be found at the website: https://www.cs.utexas.edu/~pstone/

This talk was given at Secondmind Labs, as a part of our (virtual) research seminar. Our research seminar is where we exchange ideas with guest speakers, keeping you up to date with the latest developments and inspiring research topics. Occasionally, Secondmind researchers present their own work as well. You can find a complete list of speakers at https://www.secondmind.ai/labs/seminars/. Learn more about Secondmind Labs at https://www.secondmind.ai/labs/​