One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning

@article{Yu2018OneShotIF,
  title={One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning},
  author={Tianhe Yu and Chelsea Finn and Annie Xie and Sudeep Dasari and Tianhao Zhang and Pieter Abbeel and Sergey Levine},
  journal={ArXiv},
  year={2018},
  volume={abs/1802.01557}
}
Humans and animals are capable of learning a new behavior by observing others perform the skill just once. We consider the problem of allowing a robot to do the same -- learning from a raw video pixels of a human, even when there is substantial domain shift in the perspective, environment, and embodiment between the robot and the observed human. Prior approaches to this problem have hand-specified how human and robot actions correspond and often relied on explicit human pose detection systems… CONTINUE READING

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