机器人操作网络（ROMAN）——用于解决复杂序列任务的混合分层学习
RObotic MAnipulation Network (ROMAN) -- Hybrid Hierarchical Learning for Solving Complex Sequential Tasks
AI总结：
提出混合分层学习框架ROMAN，通过整合行为克隆、模仿学习和强化学习，协调多个专门处理子任务的神经网络，有效解决机器人长跨度复杂序列操作任务，并实现鲁棒的故障恢复与自适应行为。
摘要：
解决长序列任务是具身人工智能面临的一项重大挑战。使机器人系统能够运用广泛的操作技能执行多样化的序列任务，是目前一个活跃的研究领域。在本研究中，我们提出了一个混合分层学习框架，即机器人操作网络（ROMAN），以应对在机器人操作中长时间跨度内解决多个复杂任务的挑战。ROMAN通过整合行为克隆、模仿学习和强化学习，实现了任务多功能性以及鲁棒的故障恢复能力。它由一个中央操作网络组成，该网络协调一组不同的神经网络，每个网络专门处理不同的可重组子任务，以生成正确的序列内动作来解决复杂的长跨度操作任务。实验结果表明，通过编排和激活这些专门的操作专家，ROMAN能够生成正确的序列激活，以完成长序列的复杂操作任务，并实现超越演示的自适应行为，同时对各种感官噪声表现出鲁棒性。这些结果证明了ROMAN动态适应性的重要性和多功能性，其具备自主故障恢复能力，并突显了其在需要自适应运动技能的各种自主操作任务中的潜力。
英文摘要：
Solving long sequential tasks poses a significant challenge in embodied artificial intelligence. Enabling a robotic system to perform diverse sequential tasks with a broad range of manipulation skills is an active area of research. In this work, we present a Hybrid Hierarchical Learning framework, the Robotic Manipulation Network (ROMAN), to address the challenge of solving multiple complex tasks over long time horizons in robotic manipulation. ROMAN achieves task versatility and robust failure recovery by integrating behavioural cloning, imitation learning, and reinforcement learning. It consists of a central manipulation network that coordinates an ensemble of various neural networks, each specialising in distinct re-combinable sub-tasks to generate their correct in-sequence actions for solving complex long-horizon manipulation tasks. Experimental results show that by orchestrating and activating these specialised manipulation experts, ROMAN generates correct sequential activations for accomplishing long sequences of sophisticated manipulation tasks and achieving adaptive behaviours beyond demonstrations, while exhibiting robustness to various sensory noises. These results demonstrate the significance and versatility of ROMAN's dynamic adaptability featuring autonomous failure recovery capabilities, and highlight its potential for various autonomous manipulation tasks that demand adaptive motor skills.
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