PRISM: 単一パス多感覚模倣学習のためのPerformer RS-IMLE
PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning
RGB・深度・触覚・音声・固有感覚を統合する時間的多感覚エンコーダとPerformerベースの線形注意生成器を組み合わせ、IMLEのバッチ全体拒絶サンプリング変種により単一パスで高速(30-50Hz)な模倣学習を実現した手法。
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著者: Amisha Bhaskar, Pratap Tokekar, Stefano Di Cairano, Alexander Schperberg
分類: cs.RO, cs.LG
原文アブストラクト
Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing modalities. Although recent generative approaches such as diffusion models, flow matching, and Implicit Maximum Likelihood Estimation (IMLE) have achieved promising results, they often satisfy only a subset of these requirements. To address this, we introduce PRISM, a single-pass policy based on a batch-global rejection-sampling variant of IMLE. PRISM couples a temporal multisensory encoder (integrating RGB, depth, tactile, audio, and proprioception) with a linear-attention generator using a Performer architecture. We demonstrate the efficacy of PRISM on a diverse real-world hardware suite, including loco-manipulation using a Unitree Go2 with a 7-DoF arm D1 and tabletop manipulation with a UR5 manipulator. Across challenging physical tasks such as pre-manipulation parking, high-precision insertion, and multi-object pick-and-place, PRISM outperforms state-of-the-art diffusion policies by 10-25% in success rate while maintaining high-frequency (30-50 Hz) closed-loop control. We further validate our approach on large-scale simulation benchmarks, including CALVIN, MetaWorld, and Robomimic. In CALVIN (10% data split), PRISM improves success rates by approximately 25% over diffusion and approximately 20% over flow matching, while simultaneously reducing trajectory jerk by 20x-50x. These results position PRISM as a fast, accurate, and multisensory imitation policy that retains multimodal action coverage without the latency of iterative sampling.
