A Data-Efficient Visual-Audio Representation with Intuitive Fine-tuning for Voice-Controlled RobotsDownload PDF

Published: 30 Aug 2023, Last Modified: 16 Oct 2023CoRL 2023 PosterReaders: Everyone
Keywords: Command Following, Multimodal Representation, Reinforcement Learning, Human-in-the-Loop
Abstract: A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve after the deployment or require a large number of new labels during fine-tuning. Motivated by (self-)supervised contrastive learning, we propose a novel representation that generates an intrinsic reward function for command-following robot tasks by associating images with sound commands. After the robot is deployed in a new domain, the representation can be updated intuitively and data-efficiently by non-experts without any hand-crafted reward functions. We demonstrate our approach on various sound types and robotic tasks, including navigation and manipulation with raw sensor inputs. In simulated and real-world experiments, we show that our system can continually self-improve in previously unseen scenarios given fewer new labeled data, while still achieving better performance over previous methods.
Student First Author: yes
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Video: https://youtu.be/YsYIAwZW25g
Website: https://sites.google.com/site/changpeixin/home/Research/a-data-efficient-visual-audio-representation-with-intuitive-fine-tuning
Publication Agreement: pdf
Poster Spotlight Video: mp4
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