Jagdeep Singh Bhatia

Adapting Generalist Robot Policies with Semantic Reinforcement Learning

Jagdeep Singh Bhatia, Andrew Wagenmaker, William Chen, Sergey Levine

Generalist robot policies learn a diverse repertoire of behaviors from large-scale pretraining. In principle, this makes them excellent priors for downstream adaptation via reinforcement learning (RL). In practice, however, standard RL methods leveraging this prior optimize direc…Read more