Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation

• URL: http://arxiv.org/abs/2406.14235v1
• Date: Thu, 20 Jun 2024 11:57:46 GMT
• Title: Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
• Authors: Jiaming Zhou, Teli Ma, Kun-Yu Lin, Ronghe Qiu, Zifan Wang, Junwei Liang,
• Abstract summary: Recent works have turned to large-scale pre-training using human data. morphological differences between humans and robots introduce a significant human-robot domain discrepancy. We propose a novel adaptation paradigm that utilizes readily available paired human-robot video data to bridge the discrepancy.
• Score: 16.809190349155525
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Learning generalizable visual dynamic representation across different embodied environments is crucial for real-world robotic manipulation. As the scale and diversity of robot demonstration data are limited, recent works have turned to large-scale pre-training using human data. However, the morphological differences between humans and robots introduce a significant human-robot domain discrepancy, challenging the generalization of these human-data pre-trained models to downstream manipulation tasks. To address this, we propose a novel adaptation paradigm that utilizes readily available paired human-robot video data to bridge the discrepancy. Following this paradigm, our method exploits a human-robot contrastive alignment loss to align the semantics of human and robot videos, adapting pre-trained models to the robotic domain in a parameter-efficient manner. The experiments demonstrate significant improvements on 25 tasks across three different benchmarks, where the single-task, language-conditioned multi-task settings are covered, and two different pre-trained models are evaluated. On the large RLBench benchmark, our adaptation method achieves an average improvement of $8.9\%$ in success rate over the pre-trained R3M model across multiple tasks. We will release the code and models upon acceptance.

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