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Announcing RoboFuME🤖💨, a system for autonomous & efficient real-world robot learning that 1. pre-trains a VLM reward model and a multi-task RL policy from diverse off-the-shelf demo data; 2. runs RL fine-tuning online with the VLM reward model. 🔗 🧵↓

Jingyun Yang

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88,312 次观看 • 3 年前 •via X (Twitter)

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Jingyun Yang 的头像

Jingyun Yang3 年前

The pre-train + fine-tune paradigm in ML has shown promise in a lot of domains. RoboFuME is a reset-free fine-tuning system that trains with data from an existing robot dataset collected at a different institution and takes just 3 hours to fine-tune autonomously. [1/6]

Jingyun Yang 的头像

Jingyun Yang3 年前

In pre-training, we use diverse prior demonstration data from the Bridge V2 dataset, which was collected at a different institution. For each task, we pick about 1,000 relevant trajectories in the dataset as prior data for the agent. [2/6]

Jingyun Yang 的头像

Jingyun Yang3 年前

In addition to the prior data, we spend 30 minutes to collect 50 successful demos for both the forward and backward target tasks, as well as 10 minutes of failure demos for both tasks. [3/6]

Jingyun Yang 的头像

Jingyun Yang3 年前

We pre-train an RL policy from both the prior data and the target demonstration data using an offline RL algorithm. Then, we rollout the policy to perform the forward and backward tasks alternatively while updating the policy with a VLM reward model as reward feedback. [4/6]

Jingyun Yang 的头像

Jingyun Yang3 年前

We test our system on 5 real robot tasks. Our method significantly improves over both offline-only and BC performance after 30k steps of online interaction (2-4 hours). [5/6]

Jingyun Yang 的头像

Jingyun Yang3 年前

This is joint work with an amazing team including @maxsobolmark, @brandontvu, @archit_sharma97, @leto__jean, @chelseabfinn Website: Paper: [6/6]

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Let’s do 🍒 Cherry Picking with Reinforcement Learning - 🥢 Dynamic fine manipulation with chopsticks - 🤖 Only 30 minutes of real world interactions - ⛔️ Too lazy for parameter tuning = off-the-shelf RL algo + default params + 3 seeds in real world

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42,123 次观看 • 3 年前