We introduce O-1, a new self-training objective to reduce training bias and unify training and evaluation metrics for speech recognition. O-1 is a faster variant of Expected Minimum Bayes Risk (EMBR), that boosts the oracle hypothesis and can accommodate both supervised and unsupervised data. We demonstrate the effectiveness of our approach in terms of recognition on publicly available SpeechStew datasets and a large-scale, in-house data set. On Speechstew, the O-1 objective closes the gap between the actual and oracle performance by 80\% relative compared to EMBR which bridges the gap by 43\% relative. O-1 achieves 13\% to 25\% relative improvement over EMBR on the various datasets that SpeechStew comprises of, and a 12\% relative gap reduction with respect to the oracle WER over EMBR training on the in-house dataset. Overall, O-1 results in a 9\% relative improvement in WER over EMBR, thereby speaking to the scalability of the proposed objective for large-scale datasets.

In this paper, we study the problem of learning a repertoire of low-level skills from raw images that can be sequenced to complete long-horizon visuomotor tasks. Reinforcement learning (RL) is a promising approach for acquiring short-horizon skills autonomously. However, the focus of RL algorithms has largely been on the success of those individual skills, more so than learning and grounding a large repertoire of skills that can be sequenced to complete extended multi-stage tasks. The latter demands robustness and persistence, as errors in skills can compound over time, and may require the robot to have a number of primitive skills in its repertoire, rather than just one. To this end, we introduce EMBR, a model-based RL method for learning primitive skills that are suitable for completing long-horizon visuomotor tasks. EMBR learns and plans using a learned model, critic, and success classifier, where the success classifier serves both as a reward function for RL and as a grounding mechanism to continuously detect if the robot should retry a skill when unsuccessful or under perturbations. Further, the learned model is task-agnostic and trained using data from all skills, enabling the robot to efficiently learn a number of distinct primitives. These visuomotor primitive skills and their associated pre- and post-conditions can then be directly combined with off-the-shelf symbolic planners to complete long-horizon tasks. On a Franka Emika robot arm, we find that EMBR enables the robot to complete three long-horizon visuomotor tasks at 85% success rate, such as organizing an office desk, a file cabinet, and drawers, which require sequencing up to 12 skills, involve 14 unique learned primitives, and demand generalization to novel objects.