How do humans become so skillful? Well, initially we are not, but from infancy, we discover and practice increasingly complex skills through self-supervised play. But this play is not random – the child development literature suggests that infants use their prior experience to conduct directed exploration of affordances like movability, suckability, graspability, and digestibility through interaction and sensory feedback. This type of affordance directed exploration allows infants to learn both what can be done in a given environment and how to do it. Can we instantiate an analogous strategy in a robotic learning system?
On the left we see videos from a prior dataset collected with a robot accomplishing various tasks such as drawer opening and closing, as well as grasping and relocating objects. On
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