解釈可能なロボット基盤モデルに向けて：タスク特化型ポリシー生成アプローチ
Towards Interpretable Foundation Models of Robot Behavior: A Task Specific Policy Generation Approach
ロボット基盤モデルからタスクごとに独立したポリシーを生成する手法DPPを提案し、ユーザーが個別に更新・理解しやすい解釈可能なシステムを目指す。
著者: Isaac Sheidlower, Reuben Aronson, Elaine Schaertl Short
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although this approach has seen much success, several concerns arise when considering deployment and end-user interaction with these systems. In particular, the lack of modularity between tasks means that when model weights are updated (e.g., when a user provides feedback), the behavior in other, unrelated tasks may be affected. This can negatively impact the system's interpretability and usability. We present an alternative approach to the design of robot foundation models, Diffusion for Policy Parameters (DPP), which generates stand-alone, task-specific policies. Since these policies are detached from the foundation model, they are updated only when a user wants, either through feedback or personalization, allowing them to gain a high degree of familiarity with that policy. We demonstrate a proof-of-concept of DPP in simulation then discuss its limitations and the future of interpretable foundation models.
