Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments autonomously remains unresolved. In this work, we propose a framework named GExp, which enables robots to explore and learn autonomously without human intervention. To achieve this goal, we devise modules including self-exploration, knowledge-base-building, and close-loop feedback based on foundation models. Inspired by the way that infants interact with the world, GExp encourages robots to understand and explore the environment with a series of self-generated tasks. During the process of exploration, the robot will acquire skills from beneficial experiences that are useful in the future. GExp provides robots with the ability to solve complex tasks through self-exploration. GExp work is independent of prior interactive knowledge and human intervention, allowing it to adapt directly to different scenarios, unlike previous studies that provided in-context examples as few-shot learning. In addition, we propose a workflow of deploying the real-world robot system with self-learned skills as an embodied assistant.

智能机器人是机器人领域的最终目标，本文提出了名为GExp的框架，通过自我探索、知识库构建和闭环反馈等模块，使机器人能够自主探索和学习，解决了机器人自主探索各种环境的挑战，并且提供了部署实际机器人系统作为全方位助手的工作流程。

基于基础模型的机器人自学习框架：从探索中成长