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Aug, 2017
利用弱标记图像推广基于视觉的机器人技能
GPLAC: Generalizing Vision-Based Robotic Skills using Weakly Labeled Images
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Avi Singh, Larry Yang, Sergey Levine
TL;DR
研究了机器人感知运动控制策略的广义学习问题,提出了一种称为 GPLAC 的方法来提高机器人策略的泛化能力,结合多任务学习和辅助二进制分类目标,通过卷积神经网络和注意力机制,将交互数据与弱标记的数据集相结合,大大提高了对未知环境的泛化能力。
Abstract
We tackle the problem of learning
robotic sensorimotor control
policies that can generalize to visually diverse and unseen environments. Achieving broad
generalization
typically requires large datasets, which are
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