Online World Modeling Enables Real-World Inverse Reinforcement Learning from Observation

原文アブストラクト

Current methods in robot learning are fundamentally bottlenecked by one or more of: hand-designed rewards, simulation modeling, or action supervision (e.g. teleoperation) each requiring significant domain expertise, engineering effort, and robot-operator labor. Towards eliminating these bottlenecks, this work pursues observational learning via Inverse Reinforcement Learning from Observation (IRLfO) in which only access to task observations (e.g. video) is assumed. Due to the challenging setting and limitations of RL methods, IRLfO has thus far remained impractical for real-world robot learning. Here, we present the first IRL method to learn visual manipulation in the real world from scratch, and the first real-world demonstration of positive online transfer across visual manipulation tasks from scratch. In under 40 minutes, MPAIL2 learns pick-and-place from scratch to 82% success, where RL and BC with equal interaction and demonstration budgets reach only 0% and 12% despite their reward and action supervision. Interactive project page with training videos: https://uwrobotlearning.github.io/mpail2/