Learning Contact-Rich Manipulation Skills with Guided Policy Search

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the behavior to a compact, low-dimensional representation, limiting its expressiveness and generality. In this paper, we extend a recently developed policy search method \cite{la-lnnpg-14} and use it to learn a range of dynamic manipulation behaviors with highly general policy representations, without using known models or example demonstrations. Our approach learns a set of trajectories for the desired motion skill by using iteratively refitted time-varying linear models, and then unifies these trajectories into a single control policy that can generalize to new situations. To enable this method to run on a real robot, we introduce several improvements that reduce the sample count and automate parameter selection. We show that our method can acquire fast, fluent behaviors after only minutes of interaction time, and can learn robust controllers for complex tasks, including putting together a toy airplane, stacking tight-fitting lego blocks, placing wooden rings onto tight-fitting pegs, inserting a shoe tree into a shoe, and screwing bottle caps onto bottles

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

Robot eye-hand coordination learning by watching human demonstrations: a task function approximation approach

We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a task function, which is learned using inverse reinforcement learning(IRL) by inferring differential rewards between state changes. The learned task function is then used as continuous feedbacks in an uncalibrated visual servoing(UVS) controller designed for the execution phase. Our proposed method can directly learn from raw videos, which removes the need for hand-engineered task specification. It can also provide task interpretability by directly approximating the task function. Besides, benefiting from the use of a traditional UVS controller, our training process is efficient and the learned policy is independent from a particular robot platform. Various experiments were designed to show that, for a certain DOF task, our method can adapt to task/environment variances in target positions, backgrounds, illuminations, and occlusions without prior retraining.Comment: Accepted in ICRA 201

Building Machines That Learn and Think Like People

Recent progress in artificial intelligence (AI) has renewed interest in building systems that learn and think like people. Many advances have come from using deep neural networks trained end-to-end in tasks such as object recognition, video games, and board games, achieving performance that equals or even beats humans in some respects. Despite their biological inspiration and performance achievements, these systems differ from human intelligence in crucial ways. We review progress in cognitive science suggesting that truly human-like learning and thinking machines will have to reach beyond current engineering trends in both what they learn, and how they learn it. Specifically, we argue that these machines should (a) build causal models of the world that support explanation and understanding, rather than merely solving pattern recognition problems; (b) ground learning in intuitive theories of physics and psychology, to support and enrich the knowledge that is learned; and (c) harness compositionality and learning-to-learn to rapidly acquire and generalize knowledge to new tasks and situations. We suggest concrete challenges and promising routes towards these goals that can combine the strengths of recent neural network advances with more structured cognitive models.Comment: In press at Behavioral and Brain Sciences. Open call for commentary proposals (until Nov. 22, 2016). https://www.cambridge.org/core/journals/behavioral-and-brain-sciences/information/calls-for-commentary/open-calls-for-commentar

Learning Independent Causal Mechanisms

Statistical learning relies upon data sampled from a distribution, and we usually do not care what actually generated it in the first place. From the point of view of causal modeling, the structure of each distribution is induced by physical mechanisms that give rise to dependences between observables. Mechanisms, however, can be meaningful autonomous modules of generative models that make sense beyond a particular entailed data distribution, lending themselves to transfer between problems. We develop an algorithm to recover a set of independent (inverse) mechanisms from a set of transformed data points. The approach is unsupervised and based on a set of experts that compete for data generated by the mechanisms, driving specialization. We analyze the proposed method in a series of experiments on image data. Each expert learns to map a subset of the transformed data back to a reference distribution. The learned mechanisms generalize to novel domains. We discuss implications for transfer learning and links to recent trends in generative modeling.Comment: ICML 201