Matches in SemOpenAlex for { <https://semopenalex.org/work/W4379919389> ?p ?o ?g. }
Showing items 1 to 71 of
71
with 100 items per page.
- W4379919389 abstract "Lifelong learning offers a promising paradigm of building a generalist agent that learns and adapts over its lifespan. Unlike traditional lifelong learning problems in image and text domains, which primarily involve the transfer of declarative knowledge of entities and concepts, lifelong learning in decision-making (LLDM) also necessitates the transfer of procedural knowledge, such as actions and behaviors. To advance research in LLDM, we introduce LIBERO, a novel benchmark of lifelong learning for robot manipulation. Specifically, LIBERO highlights five key research topics in LLDM: 1) how to efficiently transfer declarative knowledge, procedural knowledge, or the mixture of both; 2) how to design effective policy architectures and 3) effective algorithms for LLDM; 4) the robustness of a lifelong learner with respect to task ordering; and 5) the effect of model pretraining for LLDM. We develop an extendible procedural generation pipeline that can in principle generate infinitely many tasks. For benchmarking purpose, we create four task suites (130 tasks in total) that we use to investigate the above-mentioned research topics. To support sample-efficient learning, we provide high-quality human-teleoperated demonstration data for all tasks. Our extensive experiments present several insightful or even unexpected discoveries: sequential finetuning outperforms existing lifelong learning methods in forward transfer, no single visual encoder architecture excels at all types of knowledge transfer, and naive supervised pretraining can hinder agents' performance in the subsequent LLDM. Check the website at https://libero-project.github.io for the code and the datasets." @default.
- W4379919389 created "2023-06-09" @default.
- W4379919389 creator A5001594330 @default.
- W4379919389 creator A5030826237 @default.
- W4379919389 creator A5035249197 @default.
- W4379919389 creator A5057055806 @default.
- W4379919389 creator A5067027007 @default.
- W4379919389 creator A5069299695 @default.
- W4379919389 creator A5090815103 @default.
- W4379919389 date "2023-06-05" @default.
- W4379919389 modified "2023-09-27" @default.
- W4379919389 title "LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning" @default.
- W4379919389 doi "https://doi.org/10.48550/arxiv.2306.03310" @default.
- W4379919389 hasPublicationYear "2023" @default.
- W4379919389 type Work @default.
- W4379919389 citedByCount "0" @default.
- W4379919389 crossrefType "posted-content" @default.
- W4379919389 hasAuthorship W4379919389A5001594330 @default.
- W4379919389 hasAuthorship W4379919389A5030826237 @default.
- W4379919389 hasAuthorship W4379919389A5035249197 @default.
- W4379919389 hasAuthorship W4379919389A5057055806 @default.
- W4379919389 hasAuthorship W4379919389A5067027007 @default.
- W4379919389 hasAuthorship W4379919389A5069299695 @default.
- W4379919389 hasAuthorship W4379919389A5090815103 @default.
- W4379919389 hasBestOaLocation W43799193891 @default.
- W4379919389 hasConcept C107457646 @default.
- W4379919389 hasConcept C108771440 @default.
- W4379919389 hasConcept C127413603 @default.
- W4379919389 hasConcept C144133560 @default.
- W4379919389 hasConcept C150899416 @default.
- W4379919389 hasConcept C154945302 @default.
- W4379919389 hasConcept C15744967 @default.
- W4379919389 hasConcept C162853370 @default.
- W4379919389 hasConcept C19417346 @default.
- W4379919389 hasConcept C201995342 @default.
- W4379919389 hasConcept C2776960227 @default.
- W4379919389 hasConcept C2780451532 @default.
- W4379919389 hasConcept C41008148 @default.
- W4379919389 hasConcept C56739046 @default.
- W4379919389 hasConcept C86251818 @default.
- W4379919389 hasConceptScore W4379919389C107457646 @default.
- W4379919389 hasConceptScore W4379919389C108771440 @default.
- W4379919389 hasConceptScore W4379919389C127413603 @default.
- W4379919389 hasConceptScore W4379919389C144133560 @default.
- W4379919389 hasConceptScore W4379919389C150899416 @default.
- W4379919389 hasConceptScore W4379919389C154945302 @default.
- W4379919389 hasConceptScore W4379919389C15744967 @default.
- W4379919389 hasConceptScore W4379919389C162853370 @default.
- W4379919389 hasConceptScore W4379919389C19417346 @default.
- W4379919389 hasConceptScore W4379919389C201995342 @default.
- W4379919389 hasConceptScore W4379919389C2776960227 @default.
- W4379919389 hasConceptScore W4379919389C2780451532 @default.
- W4379919389 hasConceptScore W4379919389C41008148 @default.
- W4379919389 hasConceptScore W4379919389C56739046 @default.
- W4379919389 hasConceptScore W4379919389C86251818 @default.
- W4379919389 hasLocation W43799193891 @default.
- W4379919389 hasOpenAccess W4379919389 @default.
- W4379919389 hasPrimaryLocation W43799193891 @default.
- W4379919389 hasRelatedWork W138118422 @default.
- W4379919389 hasRelatedWork W2030880129 @default.
- W4379919389 hasRelatedWork W2235081654 @default.
- W4379919389 hasRelatedWork W2293944093 @default.
- W4379919389 hasRelatedWork W2578423033 @default.
- W4379919389 hasRelatedWork W2763224350 @default.
- W4379919389 hasRelatedWork W2898222995 @default.
- W4379919389 hasRelatedWork W3014201747 @default.
- W4379919389 hasRelatedWork W3081513304 @default.
- W4379919389 hasRelatedWork W4298054086 @default.
- W4379919389 isParatext "false" @default.
- W4379919389 isRetracted "false" @default.
- W4379919389 workType "article" @default.