BooST: 意味と動作を橋渡しする効率的なスキル転送
BooST: Bridging Semantics and Motions for Efficient Skill Transfer
ロボット学習におけるスキル抽象化の課題を解決するため、意味的意図と動作ダイナミクスを統合した二段階フレームワークBooSTを提案し、シミュレーションと実機で効率的なスキル転送を実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Jusuk Lee, Daesol Cho, Jonghun Shin, Seungyeon Yoo, Jonghae Park, Taekbeom Lee, H. Jin Kim
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
Skill abstraction---the process of learning reusable and temporally extended behaviors---has emerged as a key paradigm for improving sample efficiency and generalization in robot learning. For efficient skill transfer to real robots, learned skills must generalize across tasks and domains, remain robust to visual and dynamic perturbations, and be efficient enough for practical deployment. However, existing methods typically satisfy only a subset of these properties, as they capture either high-level semantic intent (what) or low-level motion dynamics (how). This incomplete skill transfer yields weak priors for policy learning, thereby demanding substantial in-domain data for downstream adaptation. To address these challenges, we introduce BooST, a two-stage framework that explicitly bridges semantics and motions to satisfy all three desiderata. BooST first leverages a cross-modal VQ-VAE to capture both semantic intent and motion dynamics, yielding a unified skill representation. It then distills this representation into a lightweight policy for efficient downstream adaptation to new tasks. Extensive experiments across simulation and real-robot settings demonstrate that BooST achieves superior few-shot adaptation, cross-domain skill transfer, and robustness to dynamic visual distractors, while maintaining a lightweight yet expressive design suitable for real-world deployment.