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  • title: Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning
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            Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning
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            Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning

            Dec 2, 2022

            Speakers

            DB

            David Brandfonbrener

            Speaker · 0 followers

            ST

            Stephen Tu

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            AS

            Avi Singh

            Speaker · 0 followers

            About

            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…

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            NeurIPS 2022

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