April 26, 2020
In this paper, we present an approach to learn recomposable motor primitives across large-scale and diverse manipulation demonstrations. Current approaches to decomposing demonstrations into primitives often assume manually defined primitives and bypass the difficulty of discovering these primitives. On the other hand, approaches in primitive discovery put restrictive assumptions on the complexity of a primitive, which limit applicability to narrow tasks. Our approach attempts to circumvent these challenges by jointly learning both the underlying motor primitives and recomposing these primitives to form the original demonstration. Through constraints on both the parsimony of primitive decomposition and the simplicity of a given primitive, we are able to learn a diverse set of motor primitives, as well as a coherent latent representation for these primitives. We demonstrate, both qualitatively and quantitatively, that our learned primitives capture semantically meaningful aspects of a demonstration. This allows us to compose these primitives in a hierarchical reinforcement learning setup to efficiently solve robotic manipulation tasks like reaching and pushing.
June 14, 2020
Ronghang Hu, Amanpreet Singh, Trevor Darrell, Marcus Rohrbach
June 14, 2020
June 17, 2019
Zheng Shou, Xudong Lin, Yannis Kalantidis, Laura Sevilla-Lara, Marcus Rohrbach, Shih-Fu Chang, Zhicheng Yan
June 17, 2019
June 18, 2019
Erik Wijmans, Samyak Datta, Oleksandr Maksymets, Abhishek Das, Georgia Gkioxari, Stefan Lee, Irfan Essa, Devi Parikh, Dhruv Batra
June 18, 2019
August 01, 2019
Yi Tay, Shuohang Wang, Luu Anh Tuan, Jie Fu, Minh C. Phan, Xingdi Yuan, Jinfeng Rao, Siu Cheung Hui, Aston Zhang
August 01, 2019
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