Train Offline, Test Online: A Real Robot Learning Benchmark
Gaoyue Zhou,Victoria Dean,Mohan Kumar Srirama,Aravind Rajeswaran,Jyothish Pari,Kyle Hatch,Aryan Jain,Tianhe Yu,Pieter Abbeel,Lerrel Pinto,Chelsea Finn,Abhinav Gupta,Gaoyue Zhou,Victoria Dean,Mohan Kumar Srirama,Aravind Rajeswaran,Jyothish Pari,Kyle Hatch,Aryan Jain,Tianhe Yu,Pieter Abbeel,Lerrel Pinto,Chelsea Finn,Abhinav Gupta
Three challenges limit the progress of robot learning research: robots are expensive (few labs can participate), everyone uses different robots (findings do not generalize across labs), and we lack internet-scale robotics data. We take on these challenges via a new benchmark: Train Offline, Test Online (TOTO). TOTO provides remote users with access to shared robots for evaluating methods on common...
