Goal-driven transformer for Behavior Learning

Congcong Wen1, Jiazhao Liang2, Wenyu Han2, Shuaihang Yuan1, Hao Huang1, Yu-Shen Liu3, Yi Fang1,
1NYUAD Center for Artificial Intelligence and Robotics

2NYU Tandon School of Engineering

3Tsinghua University School of Software
Paper

Experiment on Franka Kitchen Environment

Comparison among Goal-Driven Transformer (GDT) and CBeT (Cui et al., 2022)

Below are the videos demonstrating the comparison of goal-driven transformer and CBeT completing the same task.

Microwave, Bottom Burner, Slide Cabinet, Hinge Cabinet


GDT

CBeT

Microwave, Bottom Burner, Light Switch, Slide Cabinet


GDT

CBeT

Microwave, Kettle, Light Swith, Slide Cabinet


GDT

CBeT

Experiment on Block-Pushing Environment

Videos for Block-pushing

Below are the videos demonstrating experiments on block-pushing