Human Demonstrations are Generalizable Knowledge for Robots

TL;DR

This paper introduces DigKnow, a hierarchical method that distills generalizable knowledge from human demonstration videos, enabling robots to better understand, plan, and execute diverse tasks by leveraging large language models.

Contribution

It presents a novel hierarchical knowledge distillation approach from human videos, integrating LLMs for improved robot task generalization and execution.

Findings

Enhanced success rates in diverse tasks and scenes

Effective retrieval and application of demonstration-derived knowledge

Improved robot generalization to new objects and tasks

Abstract

Learning from human demonstrations is an emerging trend for designing intelligent robotic systems. However, previous methods typically regard videos as instructions, simply dividing them into action sequences for robotic repetition, which poses obstacles to generalization to diverse tasks or object instances. In this paper, we propose a different perspective, considering human demonstration videos not as mere instructions, but as a source of knowledge for robots. Motivated by this perspective and the remarkable comprehension and generalization capabilities exhibited by large language models (LLMs), we propose DigKnow, a method that DIstills Generalizable KNOWledge with a hierarchical structure. Specifically, DigKnow begins by converting human demonstration video frames into observation knowledge. This knowledge is then subjected to analysis to extract human action knowledge and further distilled into pattern knowledge compassing task and object instances, resulting in the acquisition of generalizable knowledge with a hierarchical structure. In settings with different tasks or object instances, DigKnow retrieves relevant knowledge for the current task and object instances. Subsequently, the LLM-based planner conducts planning based on the retrieved knowledge, and the policy executes actions in line with the plan to achieve the designated task. Utilizing the retrieved knowledge, we validate and rectify planning and execution outcomes, resulting in a substantial enhancement of the success rate. Experimental results across a range of tasks and scenes demonstrate the effectiveness of this approach in facilitating real-world robots to accomplish tasks with the knowledge derived from human demonstrations.