Developing robotic agents that can generalize across diverse environments while continually evolving their behaviors is a core challenge in AI and robotics. The difficulties lie in solving increasingly complex tasks and ensuring agents can continue learning without converging on narrow, specialized solutions. Quality Diversity (QD) [1, 2] methods effectively foster diversity but often rely on trial and error, where the path to a final solution can be convoluted, leading to inefficiencies and uncertainty. Our approach draws inspiration from nature's inheritance process, where offspring not only receive but also build upon the knowledge of their predecessors. Similarly, our agents inherit distilled behaviors from previous generations, allowing them to adapt and continue learning efficiently, eventually surpassing their predecessors. This natural knowledge transfer reduces randomness, guiding exploration toward more meaningful learning without manual intervention like reward shaping or task descriptors. What sets our method apart is that it offers a straightforward, evolution-inspired way to consolidate and progress, avoiding the need for manually defined styles or gradient editing [3, 4] to prevent forgetting. The agent's ability to retain and refine skills is driven by a blend of IL and RL, naturally passing down essential behaviors while implicitly discarding inferior ones. We introduce Parental Guidance (PG-1) which makes the following contributions: 1. Distributed Evolution Framework: We propose a framework that distributes the evolution process across multiple compute instances, efficiently scheduling and analyzing evolution.

Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system poses significant challenges due to its high dimensionality, complex motions, and differences in physiological structure. In this study, we introduce a novel system for joint learning between human operators and robots, that enables human operators to share control of a robot end-effector with a learned assistive agent, facilitating simultaneous human demonstration collection and robot manipulation teaching. In this setup, as data accumulates, the assistive agent gradually learns. Consequently, less human effort and attention are required, enhancing the efficiency of the data collection process. It also allows the human operator to adjust the control ratio to achieve a trade-off between manual and automated control. We conducted experiments in both simulated environments and physical real-world settings. Through user studies and quantitative evaluations, it is evident that the proposed system could enhance data collection efficiency and reduce the need for human adaptation while ensuring the collected data is of sufficient quality for downstream tasks. Videos are available at https://norweig1an.github.io/human-agent-joint-learning.github.io/.