Domain Adaptation of Visual Policies with a Single Demonstration

TL;DR

PromptAdapt is a novel framework that uses a single demonstration and Transformer models to enable visuomotor policies to adapt effectively to new environments with domain shifts, outperforming traditional domain randomization methods.

Contribution

We introduce PromptAdapt, a demonstration-conditioned visual policy framework utilizing Transformers for in-context adaptation to diverse target domains.

Findings

Outperforms baseline methods under various domain shifts

Effective in both simulation and real-world environments

Handles lighting, color, texture, and camera pose variations

Abstract

Deploying machine learning algorithms for robot tasks in real-world applications presents a core challenge: overcoming the domain gap between the training and the deployment environment. This is particularly difficult for visuomotor policies that utilize high-dimensional images as input, particularly when those images are generated via simulation. A common method to tackle this issue is through domain randomization, which aims to broaden the span of the training distribution to cover the test-time distribution. However, this approach is only effective when the domain randomization encompasses the actual shifts in the test-time distribution. We take a different approach, where we make use of a single demonstration (a prompt) to learn policy that adapts to the testing target environment. Our proposed framework, PromptAdapt, leverages the Transformer architecture's capacity to model sequential data to learn demonstration-conditioned visual policies, allowing for in-context adaptation to a target domain that is distinct from training. Our experiments in both simulation and real-world settings show that PromptAdapt is a strong domain-adapting policy that outperforms baseline methods by a large margin under a range of domain shifts, including variations in lighting, color, texture, and camera pose. Videos and more information can be viewed at project webpage: https://sites.google.com/view/promptadapt.