ViVa: Video-Trained Value Functions for Guiding Online RL from Diverse Data
Keywords: Reinforcement Learning, Unsupervised Pretraining, Robotics
TL;DR: We propose and analyze a method for flexibly learning priors from video data to guide online robotic reinforcement learning
Abstract: Online reinforcement learning (RL) with sparse rewards poses a challenge partly because of the lack of feedback on states leading to the goal. Furthermore, expert offline data with reward signal is rarely available to provide this feedback and bootstrap online learning. How can we guide online agents to the right solution without this on-task data? Reward shaping offers a solution by providing fine-grained signal to nudge the policy towards the optimal solution. However, reward shaping often requires domain knowledge to hand-engineer heuristics for a specific goal. To enable more general and inexpensive guidance, we propose and analyze a data-driven methodology that automatically guides RL by learning from widely available video data such as Internet recordings, off-task demonstrations, task failures, and undirected environment interaction. By learning a model of optimal goal-conditioned value from diverse passive data, we open the floor to scaling up and using a wide variety of data sources to model general goal-reaching behaviors relevant to guiding online RL. Specifically, we use intent-conditioned value functions to learn from diverse video and incorporate these goal-conditioned values into the reward. Our experiments show that video-trained value functions work well with a variety of data sources, exhibit positive transfer from human video pre-training, can generalize to unseen goals, and scale with dataset size.
Primary Area: reinforcement learning
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Submission Number: 7690
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