Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning. (arXiv:2210.02343v1 [cs.RO])

We consider how to most efficiently leverage teleoperator time to collect
data for learning robust image-based value functions and policies for sparse
reward robotic tasks. To accomplish this goal, we modify the process of data
collection to include more than just successful demonstrations of the desired
task. Instead we develop a novel protocol that we call Visual Backtracking
Teleoperation (VBT), which deliberately collects a dataset of visually similar
failures, recoveries, and successes. VBT data collection is particularly useful
for efficiently …

arxiv backtracking collection data data collection image offline protocol reinforcement reinforcement learning