Title
Skill Memory for Lifelong Embodied Agents
Lifelong Embodied Agents
Lifelong Embodied Agents
Research Introduction
About Me
Lifelong Agents
Lifelong Embodied Agents
Skill Definition
Lifelong Embodied Agents
Long Horizon
Lifelong Embodied Agents
Definition of CRL
Lifelong Embodied Agents
After Deployment
Lifelong Embodied Agents
Locality
Locality
IsCiL
Locality
IsCiL II
Locality
IsCiL Problem
Locality
Method
Skill Memory
IsCiL Fig. I
Skill Memory
IsCiL Fig. III
Skill Memory
Complete
Task-wise Selective Adaptation
Semi-complete
Task-wise Selective Adaptation
Incomplete
Task-wise Selective Adaptation
Training Overview
Task-wise Selective Adaptation
Unlearning
Task-wise Selective Adaptation
Summary Message
Task-wise Selective Adaptation
Compatibility
Compatibility
SIL-C
Skill-Policy Compatibility
The Problem
Skill-Policy Compatibility
SIL-C Fig. I
Skill-Policy Compatibility
Method
Bilateral Lazy Learning Interface
The Mechanism
Bilateral Lazy Learning Interface
SIL-C Fig. III
Bilateral Lazy Learning Interface
SIL-C Fig. II
Forward & Backward Skill Compatibility
Emergent SIL
Forward & Backward Skill Compatibility
Explicit SIL
Forward & Backward Skill Compatibility
Across Settings
Forward & Backward Skill Compatibility
Interface Ablation
Forward & Backward Skill Compatibility
Summary Message
Forward & Backward Skill Compatibility
Discussion
Part 2 · Discussion
Real-Time Adaptation
Real-Time Adaptation for Real-World Robots
Q&A
Questions & Answers
References
References