Learning Navigation Subroutines from Egocentric Videos

Ashish Kumar, Saurabh Gupta, Jitendra Malik
Proceedings of the Conference on Robot Learning, PMLR 100:617-626, 2020.

Abstract

Planning at a higher level of abstraction instead of low level torques improves the sample efficiency in reinforcement learning, and computational efficiency in classical planning. We propose a method to learn such hierarchical abstractions, or subroutines from egocentric video data of experts performing tasks. We learn a self-supervised inverse model on small amounts of random interaction data to pseudo-label the expert egocentric videos with agent actions. Visuomotor subroutines are acquired from these pseudo-labeled videos by learning a latent intent-conditioned policy that predicts the inferred pseudo-actions from the corresponding image observations. We demonstrate our proposed approach in context of navigation, and show that we can successfully learn consistent and diverse visuomotor subroutines from passive egocentric videos. We demonstrate the utility of our acquired visuomotor subroutines by using them as is for exploration, and as sub-policies in a hierarchical RL framework for reaching point goals and semantic goals. We also demonstrate behavior of our subroutines in the real world, by deploying them on a real robotic platform. Project website: https://ashishkumar1993.github.io/subroutines/.

Cite this Paper

BibTeX
@InProceedings{pmlr-v100-kumar20a, title = {Learning Navigation Subroutines from Egocentric Videos}, author = {Kumar, Ashish and Gupta, Saurabh and Malik, Jitendra}, booktitle = {Proceedings of the Conference on Robot Learning}, pages = {617--626}, year = {2020}, editor = {Kaelbling, Leslie Pack and Kragic, Danica and Sugiura, Komei}, volume = {100}, series = {Proceedings of Machine Learning Research}, month = {30 Oct--01 Nov}, publisher = {PMLR}, pdf = {http://proceedings.mlr.press/v100/kumar20a/kumar20a.pdf}, url = {https://proceedings.mlr.press/v100/kumar20a.html}, abstract = {Planning at a higher level of abstraction instead of low level torques improves the sample efficiency in reinforcement learning, and computational efficiency in classical planning. We propose a method to learn such hierarchical abstractions, or subroutines from egocentric video data of experts performing tasks. We learn a self-supervised inverse model on small amounts of random interaction data to pseudo-label the expert egocentric videos with agent actions. Visuomotor subroutines are acquired from these pseudo-labeled videos by learning a latent intent-conditioned policy that predicts the inferred pseudo-actions from the corresponding image observations. We demonstrate our proposed approach in context of navigation, and show that we can successfully learn consistent and diverse visuomotor subroutines from passive egocentric videos. We demonstrate the utility of our acquired visuomotor subroutines by using them as is for exploration, and as sub-policies in a hierarchical RL framework for reaching point goals and semantic goals. We also demonstrate behavior of our subroutines in the real world, by deploying them on a real robotic platform. Project website: https://ashishkumar1993.github.io/subroutines/.} }
Endnote
%0 Conference Paper %T Learning Navigation Subroutines from Egocentric Videos %A Ashish Kumar %A Saurabh Gupta %A Jitendra Malik %B Proceedings of the Conference on Robot Learning %C Proceedings of Machine Learning Research %D 2020 %E Leslie Pack Kaelbling %E Danica Kragic %E Komei Sugiura %F pmlr-v100-kumar20a %I PMLR %P 617--626 %U https://proceedings.mlr.press/v100/kumar20a.html %V 100 %X Planning at a higher level of abstraction instead of low level torques improves the sample efficiency in reinforcement learning, and computational efficiency in classical planning. We propose a method to learn such hierarchical abstractions, or subroutines from egocentric video data of experts performing tasks. We learn a self-supervised inverse model on small amounts of random interaction data to pseudo-label the expert egocentric videos with agent actions. Visuomotor subroutines are acquired from these pseudo-labeled videos by learning a latent intent-conditioned policy that predicts the inferred pseudo-actions from the corresponding image observations. We demonstrate our proposed approach in context of navigation, and show that we can successfully learn consistent and diverse visuomotor subroutines from passive egocentric videos. We demonstrate the utility of our acquired visuomotor subroutines by using them as is for exploration, and as sub-policies in a hierarchical RL framework for reaching point goals and semantic goals. We also demonstrate behavior of our subroutines in the real world, by deploying them on a real robotic platform. Project website: https://ashishkumar1993.github.io/subroutines/.
APA
Kumar, A., Gupta, S. & Malik, J.. (2020). Learning Navigation Subroutines from Egocentric Videos. Proceedings of the Conference on Robot Learning, in Proceedings of Machine Learning Research 100:617-626 Available from https://proceedings.mlr.press/v100/kumar20a.html.

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