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Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation (2402.19432v1)

Published 29 Feb 2024 in cs.RO

Abstract: Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how diverse can the robots in the training set be while still facilitating positive transfer? In this work, we study this question in the context of heterogeneous embodiments, examining how even seemingly very different domains, such as robotic navigation and manipulation, can provide benefits when included in the training data for the same model. We train a single goal-conditioned policy that is capable of controlling robotic arms, quadcopters, quadrupeds, and mobile bases. We then investigate the extent to which transfer can occur across navigation and manipulation on these embodiments by framing them as a single goal-reaching task. We find that co-training with navigation data can enhance robustness and performance in goal-conditioned manipulation with a wrist-mounted camera. We then deploy our policy trained only from navigation-only and static manipulation-only data on a mobile manipulator, showing that it can control a novel embodiment in a zero-shot manner. These results provide evidence that large-scale robotic policies can benefit from data collected across various embodiments. Further information and robot videos can be found on our project website http://extreme-cross-embodiment.github.io.

PDF HTML Abstract

Analysis of Heterogeneous Cross-Embodiment Learning for Manipulation and Navigation

The paper "Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation" investigates the potential for cross-embodiment learning in robotics, focusing on manipulation and navigation tasks. This research explores the extent to which heterogeneous datasets can facilitate knowledge transfer across different robot embodiments, thus enabling a single policy to control a wide variety of robots. The work contributes empirical findings to the field by demonstrating the benefits and challenges of utilizing foundation models to unify diverse embodiments, showcasing the application to drones, wheeled robots, quadrupeds, and more.

Summary and Numerical Results

The paper empirically evaluates whether co-training with navigation data can enhance manipulation tasks and vice versa. The salient result is a remarkable improvement in task success rates: the co-trained policies achieve about a 20% higher success rate in manipulation tasks compared to policies trained exclusively on manipulation data. Also noteworthy is the 5-7% performance boost observed in navigation across different robotic platforms, driven by incorporating manipulation datasets. These results confirm the hypothesis that data from significantly diverse systems contain transferable insights that can enhance performance across tasks traditionally viewed as distinct.

Implications and Speculative Insights on Future AI Developments

Theoretical Implications: From a theoretical standpoint, these findings suggest a profound implication: the underlying learning mechanisms of different robotic tasks, such as navigation and manipulation, may share common sensory-motor principles that can be exploited through large-scale data-driven learning. The research challenges the traditional approach of embodiment-specific datasets and encourages a paradigm where diverse data sources are viewed as potential assets for enhancing generalization.

Practical Implications: Practically, this research hints at the potential for developing 'generalist' robotic models that could operate a range of devices without task-specific tuning. Such advancements could drastically reduce the costs and time associated with collecting and training on separate datasets for new embodiments, thus accelerating the deployment of robotic applications in various real-world scenarios, from dynamic environments to hazardous settings not directly encountered during initial learning.

Future Developments in AI and Robotics

A key direction for future research involves refining the architecture and training methods to harness the benefits observed in this paper. Specifically, extending the incorporation of more sophisticated task modalities, such as language-based instructions, could enhance usability for non-expert users. Additionally, pursuing scalability tests could further confirm the robustness of these findings across unprecedentedly large datasets and novel tasks. Optimizing architectures to seamlessly integrate varying degrees of freedom, especially for complex robots like multi-fingered hands, will also advance this field substantially.

Conclusion

The results of this paper mark a significant step toward realizing robots that can generalize across multiple tasks and embodiments, bridging navigation and manipulation more closely. This convergence demands further exploration of scalable architectures and diverse data integration strategies. The empirical evidence presented suggests that with continued research, truly universal robot foundation models could become viable, offering flexibility and adaptability at levels previously thought unattainable. As the field progresses, such foundational work will underpin broader applications and facilitate breakthroughs in autonomous systems.

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Authors (8)
  1. Jonathan Yang (9 papers)
  2. Catherine Glossop (4 papers)
  3. Arjun Bhorkar (5 papers)
  4. Dhruv Shah (48 papers)
  5. Quan Vuong (41 papers)
  6. Chelsea Finn (264 papers)
  7. Dorsa Sadigh (162 papers)
  8. Sergey Levine (531 papers)
Citations (25)
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