Learning Generalizable Robotic Reward Functions from “In-The-Wild” Human Videos
Annie S. Chen, Suraj Nair, Chelsea Finn
Robotics Science and Systems (RSS), 2021
ICLR Workshop on Self-Supervised Reinforcement Learning, 2021, (Oral)
We propose a simple approach, Domain-agnostic Video Discriminator (DVD), that learns multitask reward functions by training a discriminator to classify whether two videos are performing the same task. These reward functions can generalize to unseen environments and tasks by learning from a small amount of robot data and a large, diverse dataset of in-the-wild human videos.
Just Train Twice: Improving Group Robustness without Training Group Information
Evan Z. Liu*, Behzad Haghgoo*, Annie S. Chen*, Aditi Raghunathan, Pang Wei Koh, Shiori Sagawa, Percy Liang, Chelsea Finn
International Conference on Machine Learning (ICML), 2021 (Long Talk)
A simple method that improves worst-group classification performance on datasets with spurious correlations without requiring training group annotations. JTT first detects informative training examples, which are often minority examples, by training an initial ERM classifier and extracting the misclassified examples. It then trains a final classifier by upsampling the selected examples.
Batch Exploration with Examples for Scalable Robotic Reinforcement Learning
Annie S. Chen*, Hyunji Nam*, Suraj Nair*, Chelsea Finn
Robotics and Automation Letters (RA-L) & International Conference on Robotics and Automation (ICRA), 2021
We propose a framework for leveraging weak human supervision to enable better robotic exploration for scalable data collection. Under this framework, the robot autonomously collects high quality data with a few minutes of human supervision, providing better data for downstream offline RL.
Limit Theorems for Descents in Permutations and Arithmetic Progressions in Z/pZ
Bryce Cai, Annie S. Chen, Ben Heller, Eyob Tsegaye
Outstanding Poster Presentation, Joint Mathematics Meetings (JMM) Undergraduate Poster Session, 2019
Index divisibility in dynamical sequences and cyclic orbits modulo p
Annie S. Chen, T. Alden Gassert, Katherine E. Stange
New York Journal of Mathematics (NYJM), 2017