斯坦福团队开源了 ASPIRE，让机器人技能库自动进化，学了 100 个任务后还会越用越强，迁移到真实环境也快 10 倍。
ASPIRE 是斯坦福团队提出的新型机器人持续学习方法。它通过编码智能体观察仿真与真实机器人的多模态感官痕迹，对控制程序进行进化搜索，并将最佳技能提炼到不断扩展的库中。ASPIRE 实现了约 10 倍的迁移学习计算令牌节省，且开源完整代码。机器人在真实世界中学习 100 个任务后不会像第一次那样迷茫，技能库可无限累积。
Today, we give robots a /skills library that self-evolves and compounds indefinitely! Introducing AS...
Today, we give robots a /skills library that self-evolves and compounds indefinitely! Introducing ASPIRE: a robot solving its 100th task is no longer as clueless as solving its first. Coding agents observe multimodal sensory traces from simulation and real robots, launch an evolutionary search over control programs, and distill the best know-how into an ever-expanding library. ASPIRE is a new type of continual learning: "training" is skill refinement instead of gradient descent. "Trained model" is a repo of sensorimotor skills instead of floating weights. “Distributed training” is a panel of agents each practicing a different skill instead of sharded minibatches. Here's the beauty: ASPIRE gives the tired terms "sim2real transfer" and "cross-embodiment transfer" a whole new meaning. Bridging the sim-to-real gap is notoriously brutal. An end-to-end policy has to swallow both the visual shift (sim looks toyish next to a real camera) and the subtle contact physics it never quite gets right. ASPIRE sidesteps the mess, because it doesn't ship pixels or weights across the gap, but ships the know-how. The robot still has to practice in the real world, not zero-shot, but it gets there way faster because it isn't rediscovering the strategy from scratch. Same for going single-arm to bimanual hardware, which usually requires new data and retraining from zero. ASPIRE achieves up to ~10x cut in "transfer learning” tokens (yes, tokens are the new unit of *training* compute ;) Check out our gallery of 150+ tasks and 90+ skills the robots taught themselves, all on the website! Kind of wild that we can ship the "learned weights" as an HTML page rather than a GGUF. We'll open-source the full stack so your own robot library starts compounding from ours! Deep dive in thread: Your browser does not support the video tag. 🔗 View on Twitter 💬 2 🔄 5 ❤️ 24 👀 2183 📊 7 ⚡