2023-12-02-belkhale23a.md

title	section	openreview	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
HYDRA: Hybrid Robot Actions for Imitation Learning	Poster	_A15qsPswaK	Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction which lead to previously unseen states. Choosing an action representation for the policy that minimizes this distribution shift is critical in imitation learning. Prior work propose using temporal action abstractions to reduce compounding errors, but they often sacrifice policy dexterity or require domain-specific knowledge. To address these trade-offs, we introduce HYDRA, a method that leverages a hybrid action space with two levels of action abstractions: sparse high-level waypoints and dense low-level actions. HYDRA dynamically switches between action abstractions at test time to enable both coarse and fine-grained control of a robot. In addition, HYDRA employs action relabeling to increase the consistency of actions in the dataset, further reducing distribution shift. HYDRA outperforms prior imitation learning methods by $30-40%$ on seven challenging simulation and real world environments, involving long-horizon tasks in the real world like making coffee and toasting bread. Videos are found on our website: https://tinyurl.com/3mc6793z	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	belkhale23a	0	HYDRA: Hybrid Robot Actions for Imitation Learning	2113	2133	2113-2133	2113	false	Belkhale, Suneel and Cui, Yuchen and Sadigh, Dorsa	given family Suneel Belkhale given family Yuchen Cui given family Dorsa Sadigh	2023-12-02		Proceedings of The 7th Conference on Robot Learning	229	inproceedings	date-parts 2023 12 2	https://proceedings.mlr.press/v229/belkhale23a/belkhale23a.pdf