One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks

@article{Yu2018OneShotHI,
  title={One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks},
  author={Tianhe Yu and Pieter Abbeel and Sergey Levine and Chelsea Finn},
  journal={ArXiv},
  year={2018},
  volume={abs/1810.11043}
}
We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of major challenges. Video demonstrations without teleoperation are easy for humans to provide, but do not provide any direct supervision. Learning policies from raw pixels enables full generality but calls for large function approximators with many parameters to… CONTINUE READING
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