Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning

• URL: http://arxiv.org/abs/2411.03294v3
• Date: Thu, 20 Mar 2025 18:03:15 GMT
• Title: Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning
• Authors: George Jiayuan Gao, Tianyu Li, Nadia Figueroa,
• Abstract summary: We propose an object-centric recovery (OCR) framework to address the challenges of out-of-distribution (OOD) scenarios in visuomotor policy learning.<n>We show OCR's capacity to autonomously collect demonstrations for continual learning.
• Score: 2.6696199945489534
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We propose an object-centric recovery (OCR) framework to address the challenges of out-of-distribution (OOD) scenarios in visuomotor policy learning. Previous behavior cloning (BC) methods rely heavily on a large amount of labeled data coverage, failing in unfamiliar spatial states. Without relying on extra data collection, our approach learns a recovery policy constructed by an inverse policy inferred from the object keypoint manifold gradient in the original training data. The recovery policy serves as a simple add-on to any base visuomotor BC policy, agnostic to a specific method, guiding the system back towards the training distribution to ensure task success even in OOD situations. We demonstrate the effectiveness of our object-centric framework in both simulation and real robot experiments, achieving an improvement of 77.7\% over the base policy in OOD. Furthermore, we show OCR's capacity to autonomously collect demonstrations for continual learning. Overall, we believe this framework represents a step toward improving the robustness of visuomotor policies in real-world settings. Project Website: https://sites.google.com/view/ocr-penn

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