Affordance Learning from Play for Sample-Efficient Policy Learning
Jessica Borja-Diaz,Oier Mees,Gabriel Kalweit,Lukas Hermann,Joschka Boedecker,Wolfram Burgard,Jessica Borja-Diaz,Oier Mees,Gabriel Kalweit,Lukas Hermann,Joschka Boedecker,Wolfram Burgard
Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we propose a novel approach that extracts a self-supervised visual affordance model from human teleoperated play data and leverages it to enable efficient policy le...
