元学习视觉单帧模仿学习

Sep, 2017

One-Shot Visual Imitation Learning via Meta-Learning

Chelsea Finn, Tianhe Yu, Tianhao Zhang, Pieter Abbeel, Sergey Levine

TL;DR本研究提出一种元模仿学习方法，通过深度神经网络对机器人进行高效学习，使机器人能够从一个单独的示例中获取新技能，并能够终端到端地学习。实验结果表明，该方法能够扩展到原始像素输入，并且需要较少前置任务数据，具有广泛的应用前景。

Abstract

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as →