Adversarial Skill Networks: Unsupervised Robot Skill Learning from Video

@article{Mees2020AdversarialSN,
  title={Adversarial Skill Networks: Unsupervised Robot Skill Learning from Video},
  author={Oier Mees and Markus Merklinger and Gabriel Kalweit and Wolfram Burgard},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020},
  pages={4188-4194}
}
Key challenges for the deployment of reinforcement learning (RL) agents in the real world are the discovery, representation and reuse of skills in the absence of a reward function. To this end, we propose a novel approach to learn a task-agnostic skill embedding space from unlabeled multi-view videos. Our method learns a general skill embedding independently from the task context by using an adversarial loss. We combine a metric learning loss, which utilizes temporal video coherence to learn a… Expand
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