Reinforcement learning (RL) is a powerful learning technique in robotics, where people can specify rewards that robots learn how to maximize through a process of trialanderror. Despite the numerous advantages of RL to robot programming, no approaches to our knowledge have sought to enable nontechnical users to specify RL programs for robots. In this work, we designed two novel RL-based robot programming paradigms for non-technical users: Full MDP Programming (Full-MDP) and Goal-Only MDP Programming (Goal-MDP). To evaluate the efficacy of these two approaches, we ran a between-subjects online user study ($N$= 409) where participants were asked to program a simulated robot to complete example household tasks (e.g., delivering coffee) using one of our RL programming paradigms or a commonly used baseline: Sequential Programming (Seq), or Trigger-Action Programming (TAP). While users neither performed well nor reported positive experiences with the FullMDP interface, user performance and experience with Goal-MDP was similar to the baselines (Seq and TAP) with significantly shorter programs. These results demonstrate that RL-based paradigms like Goal-MDP are a viable alternative to more traditional approaches and provide a starting point for robot programming interfaces that allow end-users to leverage the myriad benefits of RL for programming robots.

We present PROGRESSOR, a novel framework that learns a task-agnostic reward function from videos, enabling policy training through goal-conditioned reinforcement learning (RL) without manual supervision. Underlying this reward is an estimate of the distribution over task progress as a function of the current, initial, and goal observations that is learned in a self-supervised fashion. Crucially, PROGRESSOR refines rewards adversarially during online RL training by pushing back predictions for out-of-distribution observations, to mitigate distribution shift inherent in non-expert observations. Utilizing this progress prediction as a dense reward together with an adversarial push-back, we show that PROGRESSOR enables robots to learn complex behaviors without any external supervision. Pretrained on large-scale egocentric human video from EPIC-KITCHENS, PROGRESSOR requires no fine-tuning on in-domain task-specific data for generalization to real-robot offline RL under noisy demonstrations, outperforming contemporary methods that provide dense visual reward for robotic learning. Our findings highlight the potential of PROGRESSOR for scalable robotic applications where direct action labels and task-specific rewards are not readily available.