4 accepted papers
Many useful robot tasks require attending to the history of past observations. For example, finding an item in a room requires remembering which places have already been searched. However, the best-performing robot policies typically condition only on the current observation, limiting their applicab…
The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing…
A compelling use case of offline reinforcement learning (RL) is to obtain a policy initialization from existing datasets followed by fast online fine-tuning with limited interaction. However, existing offline RL methods tend to behave poorly during fine-tuning. In this paper, we devise an approach f…
Because of the rich dynamical structure of videos andtheir ubiquity in everyday life, it is a natural idea that video data could serve as a powerful unsupervised learning signal for visual representations. However, instantiating this idea, especially at large scale, has remained a significant artifi…