📝 SummarXiv

Abstract

Embodied robots nowadays can already handle many real-world manipulation tasks. However, certain other real-world tasks involving dynamic processes (e.g., shooting a basketball into a hoop) are highly agile and impose high precision requirements on the outcomes, presenting additional challenges for methods primarily designed for quasi-static manipulations. This leads to increased efforts in costly data collection, laborious reward design, or complex motion planning. Such tasks, however, are far less challenging for humans. Say a novice basketball player typically needs only about 10 attempts to make their first successful shot, by roughly imitating some motion priors and then iteratively adjusting their motion based on the past outcomes. Inspired by this human learning paradigm, we propose Prior Reinforce(P.R.), a simple and scalable approach which first learns a motion pattern from very few demonstrations, then iteratively refines its generated motions based on feedback of a few real-world trials, until reaching a specific goal. Experiments demonstrated that Prior Reinforce can learn and accomplish a wide range of goal-conditioned agile dynamic tasks with human-level precision and efficiency directly in real-world, such as throwing a basketball into the hoop in fewer than 10 trials. Project website:https://adap-robotics.github.io/.