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Found 11 papers, 5 papers with code
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions.
Self-Guided Masked Autoencoders for Domain-Agnostic Self-Supervised Learning
Self-supervised learning excels in learning representations from large amounts of unlabeled data, demonstrating success across multiple data modalities.
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment
We provide theoretical analysis of our selection mechanism and demonstrate that ROAM enables a robot to adapt rapidly to changes in dynamics both in simulation and on a real Go1 quadruped, even successfully moving forward with roller skates on its feet.
Confidence-Based Model Selection: When to Take Shortcuts for Subpopulation Shifts
Effective machine learning models learn both robust features that directly determine the outcome of interest (e. g., an object with wheels is more likely to be a car), and shortcut features (e. g., an object on a road is more likely to be a car).
Language-Driven Representation Learning for Robotics
First, we demonstrate that existing representations yield inconsistent results across these tasks: masked autoencoding approaches pick up on low-level spatial features at the cost of high-level semantics, while contrastive learning approaches capture the opposite.
Project and Probe: Sample-Efficient Domain Adaptation by Interpolating Orthogonal Features
Transfer learning with a small amount of target data is an effective and common approach to adapting a pre-trained model to distribution shifts.
Surgical Fine-Tuning Improves Adaptation to Distribution Shifts
A common approach to transfer learning under distribution shift is to fine-tune the last few layers of a pre-trained model, preserving learned features while also adapting to the new task.
You Only Live Once: Single-Life Reinforcement Learning
We formalize this problem setting, which we call single-life reinforcement learning (SLRL), where an agent must complete a task within a single episode without interventions, utilizing its prior experience while contending with some form of novelty.
Just Train Twice: Improving Group Robustness without Training Group Information
Standard training via empirical risk minimization (ERM) can produce models that achieve high accuracy on average but low accuracy on certain groups, especially in the presence of spurious correlations between the input and label.
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Out-of-Distribution Generalization
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Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos
We find that by leveraging diverse human datasets, this reward function (a) can generalize zero shot to unseen environments, (b) generalize zero shot to unseen tasks, and (c) can be combined with visual model predictive control to solve robotic manipulation tasks on a real WidowX200 robot in an unseen environment from a single human demo.
Batch Exploration with Examples for Scalable Robotic Reinforcement Learning
Concretely, we propose an exploration technique, Batch Exploration with Examples (BEE), that explores relevant regions of the state-space, guided by a modest number of human provided images of important states.
