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Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
March 22, 2024, 4:43 a.m. | Lihan Zha, Yuchen Cui, Li-Heng Lin, Minae Kwon, Montserrat Gonzalez Arenas, Andy Zeng, Fei Xia, Dorsa Sadigh
cs.LG updates on arXiv.org arxiv.org
Abstract: Today's robot policies exhibit subpar performance when faced with the challenge of generalizing to novel environments. Human corrective feedback is a crucial form of guidance to enable such generalization. However, adapting to and learning from online human corrections is a non-trivial endeavor: not only do robots need to remember human feedback over time to retrieve the right information in new settings and reduce the intervention rate, but also they would need to be able to …
arxiv cs.ai cs.lg cs.ro knowledge language manipulation robot robot manipulation type via
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