"In that past, robots have learned skills with a human supervisor helping and providing feedback. What makes this work exciting is that the robots can learn a range of visual object manipulation skills entirely on their own," said Chelsea Finn, a doctoral student in Levine's lab and inventor of the original DNA model.
With the new technology, a robot pushes objects on a table, then uses the learned prediction model to choose motions that will move an object to a desired location. Robots use the learned model from raw camera observations to teach themselves how to avoid obstacles and push objects around obstructions.
“Humans learn object manipulation skills without any teacher through millions of interactions with a variety of objects during their lifetime. We have shown that it possible to build a robotic system that also leverages large amounts of autonomously collected data to learn widely applicable manipulation skills, specifically object pushing skills,” said Frederik Ebert, a graduate student in Levine's lab who worked on the project.
Since control through video prediction relies only on observations that can be collected autonomously by the robot, such as through camera images, the resulting method is general and broadly applicable. In contrast to conventional computer vision methods, which require humans to manually label thousands or even millions of images, building video prediction models only requires unannotated video, which can be collected by the robot entirely autonomously. Indeed, video prediction models have also been applied to datasets that represent everything from human activities to driving, with compelling results.
"Children can learn about their world by playing with toys, moving them around, grasping, and so forth. Our aim with this research is to enable a robot to do the same: to learn about how the world works through autonomous interaction," Levine said. "The capabilities of this robot are still limited, but its skills are learned entirely automatically, and allow it to predict complex physical interactions with objects that it has never seen before by building on previously observed patterns of interaction."
The Berkeley scientists are continuing to research control through video prediction, focusing on further improving video prediction and prediction-based control, as well as developing more sophisticated methods by which robots can collect more focused video data, for complex tasks such as picking and placing objects and manipulating soft and deformable objects such as cloth or rope, and assembly.
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