SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling
Jesse Zhang,Karl Pertsch,Jiahui Zhang,Joseph J. Lim,Jesse Zhang,Karl Pertsch,Jiahui Zhang,Joseph J. Lim
Pre-training robots with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT, a scalable offline policy pre-training approach which substantially reduces the human effort neede...
