Related papers: Learning Multi-Stage Tasks with One Demonstration via Self-Replay

Learning Multi-Stage Tasks with One Demonstration via Self-Replay

URL: http://arxiv.org/abs/2111.07447v1
Date: Sun, 14 Nov 2021 20:57:52 GMT
Title: Learning Multi-Stage Tasks with One Demonstration via Self-Replay
Authors: Norman Di Palo and Edward Johns
Abstract summary: We introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model imitation learning as a learned object reaching phase followed by an open-loop replay of the demonstrator's actions. We evaluate with real-world experiments on a set of everyday-like multi-stage tasks, which we show that our method can solve from a single demonstration.
Score: 9.34061107793983
License: http://creativecommons.org/licenses/by/4.0/
Abstract: In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model imitation learning as a learned object reaching phase followed by an open-loop replay of the demonstrator's actions. We build upon this for multi-stage tasks where, following the human demonstration, the robot can autonomously collect image data for the entire multi-stage task, by reaching the next object in the sequence and then replaying the demonstration, and then repeating in a loop for all stages of the task. We evaluate with real-world experiments on a set of everyday-like multi-stage tasks, which we show that our method can solve from a single demonstration. Videos and supplementary material can be found at https://www.robot-learning.uk/self-replay.

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