Watch Less, Do More: Implicit Skill Discovery for Video-Conditioned Policy
Jiangxing Wang Zongqing Lu
In this paper, we study the problem of video-conditioned policy learning. While previous works mostly focus on learning policies that perform a single skill specified by the given video, we take a step further and aim to learn a policy that can perform multiple skills according to the given video, and generalize to unseen videos by recombining these skills. To solve this problem, we propose our algorithm, Watch-Less-Do-More, an information bottleneck-based imitation learning framework for implicit skill discovery and video-conditioned policy learning. In our method, an information bottleneck objective is employed to control the information contained in the video representation, ensuring that it only encodes information relevant to the current skill (Watch-Less). By discovering potential skills from training videos, the learned policy is able to recombine them and generalize to unseen videos to achieve compositional generalization (Do-More). To evaluate our method, we perform extensive experiments in various environments and show that our algorithm substantially outperforms baselines (up to 2x) in terms of compositional generalization ability.
video-conditioned policy, compositional generalization