We present Premier-TACO, a multitask feature representation learning approach designed to improve few-shot policy learning efficiency in sequential decision-making tasks. Premier-TACO leverages a subset of multitask offline datasets for pretraining a general feature representation, which captures critical environmental dynamics and is fine-tuned using minimal expert demonstrations. It advances the temporal action contrastive learning (TACO) objective, known for state-of-the-art results in visual control tasks, by incorporating a novel negative example sampling strategy. This strategy is crucial in significantly boosting TACO's computational efficiency, making large-scale multitask offline pretraining feasible. Our extensive empirical evaluation in a diverse set of continuous control benchmarks including Deepmind Control Suite, MetaWorld, and LIBERO demonstrate Premier-TACO's effectiveness in pretraining visual representations, significantly enhancing few-shot imitation learning of novel tasks. Our code, pretraining data, as well as pretrained model checkpoints will be released at https://github.com/PremierTACO/premier-taco. Our project webpage is at https://premiertaco.github.io.
@article{arxiv.2402.06187,
title = {Premier-TACO is a Few-Shot Policy Learner: Pretraining Multitask Representation via Temporal Action-Driven Contrastive Loss},
author = {Ruijie Zheng and Yongyuan Liang and Xiyao Wang and Shuang Ma and Hal Daumé and Huazhe Xu and John Langford and Praveen Palanisamy and Kalyan Shankar Basu and Furong Huang},
journal= {arXiv preprint arXiv:2402.06187},
year = {2024}
}
Comments
Accepted at Forty-first International Conference on Machine Learning (ICML 2024)