インタラクションワーピングによるワンショット模倣学習
One-shot Imitation Learning via Interaction Warping
物体の形状ワーピングを用いて単一の実演からSE(3)操作方策を学習する手法を提案し、物体再配置タスクで成功を示した。
著者: Ondrej Biza, Skye Thompson, Kishore Reddy Pagidi, Abhinav Kumar, Elise van der Pol, Robin Walters, Thomas Kipf, Jan-Willem van de Meent, Lawson L. S. Wong, Robert Platt
分類: cs.RO, cs.LG
原文アブストラクト
Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D mesh of each object in the environment using shape warping, a technique for aligning point clouds across object instances. Then, we represent manipulation actions as keypoints on objects, which can be warped with the shape of the object. We show successful one-shot imitation learning on three simulated and real-world object re-arrangement tasks. We also demonstrate the ability of our method to predict object meshes and robot grasps in the wild.
