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Fall 2024 GRASP SFI: Jason Ma, University of Pennsylvania, “Environment Curriculum Generation via Large Language Models”

November 6 @ 3:00 pm - 4:00 pm

This will be a hybrid event with in-person attendance in Levine 307 and virtual attendance on Zoom.

ABSTRACT

Recent work has demonstrated that a promising strategy for teaching robots a wide range of complex skills is by training them on a curriculum of progressively more challenging environments. However, developing an effective curriculum of environment distributions currently requires significant expertise, which must be repeated for every new domain. Our key insight is that environments are often naturally represented as code. Thus, we probe whether effective environment curriculum design can be achieved and automated via code generation by large language models (LLM). In this paper, we introduce Eurekaverse, an unsupervised environment design algorithm that uses LLMs to sample progressively more challenging, diverse, and learnable environments for skill training. We validate Eurekaverse’s effectiveness in the domain of quadrupedal parkour learning, in which a quadruped robot must traverse through a variety of obstacle courses. The automatic curriculum designed by Eurekaverse enables gradual learning of complex parkour skills in simulation and can successfully transfer to the real-world, outperforming manual training courses designed by humans.

Presenter

Jason Ma

Jason Ma

Jason Ma is a final-year PhD student at the University of Pennsylvania, advised by Dinesh Jayaraman and Osbert Bastani. His research interest spans the intersection of robot learning and reinforcement learning, with an emphasis on foundation models for robotics. His work has received Best Paper Finalist at ICRA 2024, Top 10 NVIDIA Research Projects of the Year, and covered by popular media such as the Economist, Fox, Yahoo, and TechCrunch. Jason is supported by Apple Scholar in AI/ML PhD Fellowship as well as OpenAI Superalignment Fellowship.

Details

Date:
November 6
Time:
3:00 pm - 4:00 pm
Event Category:

Venue

Levine 307
3330 Walnut St
Philadelphia, PA 19104 United States
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