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Demonstrations and natural language instructions are two common ways to specify and teach robots novel tasks. However, for many complex tasks, a demonstration or language instruction alone contains ambiguities, preventing tasks from being specified clearly. In such cases, a combination of both a demonstration and an instruction more concisely and effectively conveys the task to the robot than either modality alone. To instantiate this problem setting, we train a single multi-task policy on a few hundred challenging robotic pick-and-place tasks and propose DeL-TaCo (Joint Demo-Language Task Conditioning), a method for conditioning a robotic policy on task embeddings comprised of two components: a visual demonstration and a language instruction. By allowing these two modalities to mutually disambiguate and clarify each other during novel task specification, DeL-TaCo (1) substantially decreases the teacher effort needed to specify a new task and (2) achieves better generalization performance on novel objects and instructions over previous task-conditioning methods. To our knowledge, this is the first work to show that simultaneously conditioning a multi-task robotic manipulation policy on both demonstration and language embeddings improves sample efficiency and generalization over conditioning on either modality alone. See additional materials at https://sites.google.com/view/del-taco-learning
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Deep Multi-Task Learning with Adversarial-and-Cooperative Nets
In this paper, we propose a deep multi-Task learning model based on Adversarial-and-COoperative nets (TACO). The goal is to use an adversarial-and-cooperative strategy to decouple the task-common and task-specific knowledge, facilitating the fine-grained knowledge sharing among tasks. TACO accommodates multiple game players, i.e., feature extractors, domain discriminator, and tri-classifiers. They play the MinMax games adversarially and cooperatively to distill the task-common and task-specific features, while respecting their discriminative structures. Moreover, it adopts a divide-and-combine strategy to leverage the decoupled multi-view information to further improve the generalization performance of the model. The experimental results show that our proposed method significantly outperforms the state-of-the-art algorithms on the benchmark datasets in both multi-task learning and semi-supervised domain adaptation scenarios.
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- PAR ID:
- 10159295
- Date Published:
- Journal Name:
- IJCAI
- Page Range / eLocation ID:
- 4078 to 4084
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.24963/ijcai.2019/566
