labeled๋˜์ง€ ์•Š์€ ๋น„๋””์˜ค๋ฅผ ํ•™์Šตํ•˜๊ธฐ ์œ„ํ•œ semi-supervised imitation model์ธ VPT(Video pretraining)๋ฅผ ์ œ์•ˆ.
labeled๋œย contractors์˜ ๋น„๋””์˜ค์™€ ํ‚ค๋ณด๋“œ, ๋งˆ์šฐ์Šค ๊ธฐ๋ก์˜ ๊ณผ๊ฑฐ, ๋ฏธ๋ž˜ ์ •๋ณด๋กœ๋ถ€ํ„ฐ ๊ฐ frame ์‚ฌ์ด์˜ action์„ ์˜ˆ์ธกํ•˜๋Š” inverse dynamics model(IDM)์„ ํ•™์Šต. ์ดํ›„ IDM์œผ๋กœ ๋” ํฐย unlabeledย ๋น„๋””์˜ค ๋ฐ์ดํ„ฐ์…‹์„ labelingํ•˜๊ณ  ๊ณผ๊ฑฐ frame๋งŒ์œผ๋กœ action์„ ์˜ˆ์ธกํ•  ์ˆ˜ ์žˆ๋„๋ก VPT๋ฅผ ํ•™์Šต


foundation model์˜ pretrainingํ›„(VPT)
behavioral cloning์ด๋‚˜ ๊ฐ•ํ™”ํ•™์Šต์œผ๋กœ fine tuning.
ํ‘œ์ค€์ ์ธ ๊ฐ•ํ™”ํ•™์Šต ๊ธฐ๋ฒ•์ธ random initialization๋ณด๋‹ค VPT๋ชจ๋ธ ๊ธฐ๋ฐ˜์ด reward๋ฅผ ๋” ์ž˜ ๋ฐ›๊ณ 
minecraft์—์„œ ์ธ๊ฐ„ ์ˆ˜์ค€์˜ ์†๋„ ์ด์ƒ์œผ๋กœ ๋‹ค์ด์•„๋ชฌ๋“œ ๊ณก๊ดญ์ด ์ œ์ž‘ ๊ณผ์ •์„ ๋ณด์ž„

zero shot๊ณผ behavioral cloning์œผ๋กœ fine tuningํ–ˆ์„ ๋•Œ ๊ฐ step๋ณ„ ์†๋„ ๋น„๊ต


random intialization ๊ธฐ๋ฐ˜์˜ RL ๋ชจ๋ธ๊ณผ VPT ๊ธฐ๋ฐ˜ RL ๋ชจ๋ธ์˜ reward ๋น„๊ต





์ „์ฒด ๋‹ค์ด์•„๋ชฌ๋“œ ๊ณก๊ดญ์ด ์ œ์ž‘ ๊ณผ์ • ์˜์ƒ