Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201

Graph-based task libraries for robots: generalization and autocompletion

In this paper, we consider an autonomous robot that persists over time performing tasks and the problem of providing one additional task to the robot's task library. We present an approach to generalize tasks, represented as parameterized graphs with sequences, conditionals, and looping constructs of sensing and actuation primitives. Our approach performs graph-structure task generalization, while maintaining task ex- ecutability and parameter value distributions. We present an algorithm that, given the initial steps of a new task, proposes an autocompletion based on a recognized past similar task. Our generalization and auto- completion contributions are eective on dierent real robots. We show concrete examples of the robot primitives and task graphs, as well as results, with Baxter. In experiments with multiple tasks, we show a sig- nicant reduction in the number of new task steps to be provided

Generalizing Agent Plans and Behaviors with Automated Staged Observation in The Real-Time Strategy Game Starcraft

In this thesis we investigate the processes involved in learning to play a game. It was inspired by two observations about how human players learn to play. First, learning the domain is intertwined with goal pursuit. Second, games are designed to ramp up in complexity, walking players through a gradual cycle of acquiring, refining, and generalizing knowledge about the domain. This approach does not rely on traces of expert play. We created an integrated planning, learning and execution system that uses StarCraft as its domain. The planning module creates command/event groupings based on the data received. Observations of unit behavior are collected during execution and returned to the learning module which tests the generalization hypothesizes. The planner uses those test results to generate events that will pursue the goal and facilitate learning the domain. We demonstrate that this approach can efficiently learn the subtle traits of commands through multiple scenarios