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Jul, 2023
分解视觉机器人操作中的模仿学习普遍化差距
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation
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Annie Xie, Lisa Lee, Ted Xiao, Chelsea Finn
TL;DR
模仿学习中泛化难题的困难源自于视觉机器人操作中的因素变化,作者研究了模拟仿真和实际机器人任务中不同因素的泛化难度,并设计了一个新的基准测试用来评估泛化效果。
Abstract
What makes
generalization
hard for
imitation learning
in
visual robotic manipulation
? This question is difficult to approach at face value
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