【DL輪読会】Implicit Behavioral Cloning

DEEP LEARNING JP [DL Papers] Implicit Behavioral Cloning (CoRL 2021) Koki Yamane, University of Tsukuba http://deeplearning.jp/ 1

• http://deeplearning.jp/

◼ Implicit Behavioral Cloning ◼ CoRL 2021 ◼ Robotics at Google  Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson ◼ https://implicitbc.github.io/ 2022/5/13 2

• https://implicitbc.github.io/

(BC) 2022/5/13 EBM 3

Behavior Cloning ෝ = 𝑭𝜽 𝒐 𝒂 ◼  ◼  ◼ 2022/5/13 4

BC Explicit Model ( ෝ = 𝑭𝜽 𝒐 𝒂 2022/5/13 ) Implicit Model ( ) ෝ = argmin 𝑬𝜽 𝒐, 𝒂 𝒂 5

ෝ = argmin 𝑬𝜽 𝒐, 𝒂 𝒂 𝑁 𝐿InfoNCE = ෍ −log 𝑝෦𝜃 𝑦𝑖 |𝑥, 𝑖=0 𝑝෦𝜃 𝑦𝑖 |𝑥, 2022/5/13 𝑗 𝑁𝑛𝑒𝑔 𝑦෤𝑖 𝑗=1 𝑒 −𝐸𝜃 = 𝑒 −𝐸𝜃 𝑥𝑖,𝑦𝑖 + 𝑗 𝑁𝑛𝑒𝑔 𝑦෤𝑖 𝑗=1 𝑥𝑖 ,𝑦𝑖 𝑁𝑛𝑒𝑔 −𝐸𝜃 𝑥𝑖 ,𝑦෤ 𝑗 𝑖 σ𝑗=1 𝑒 6

(CNN+) MLP 2022/5/13 7

Implicit Model 2022/5/13 8

Implicit Model 2022/5/13 9

Implicit Model 2022/5/13 10

2022/5/13 11

Bi-Manual Sweeping Task Explicit Model ( 2022/5/13 ) Implicit Model ( ) 12

Insertion Task Explicit Model ( 2022/5/13 ) Implicit Model ( ) 13

Sorting Task Explicit Model ( 2022/5/13 ) Implicit Model ( ) 14

◼ BC EBM ◼ ◼ ◼   RNN 2022/5/13 15