Meta imitation learning

If we want our robot to be more generalist and to perform various tasks, then our robots should learn quickly. But how can we enable our robots to learn quickly? Well, how do we humans learn quickly? Don't we easily learn new skills by just looking at other individuals? Similarly, if we enable our robot to learn by just looking at our actions, then we can easily make the robot learn complex goals efficiently and we don't have to engineer complex goal and reward functions. This type of learning—that is, learning from human actions—is called imitation learning, where the robot tries to mimic human action. A robot doesn't really have to learn only from human actions; it can also learn from another robot performing a task or a video of a human/robot performing a task.

But imitation learning is not as simple as it sounds. A robot will take a lot of time and demonstrations to learn the goal and to identify the right policy. So, we'll augment the robot with prior experience...