Augmentation Enables One-Shot Generalization in Learning from Demonstration for Contact-Rich Manipulation
Xing Li,Manuel Baum,Oliver Brock,Xing Li,Manuel Baum,Oliver Brock
We introduce a Learning from Demonstration (LID) approach for contact-rich manipulation tasks, i.e., tasks in which the manipulandum's motion is constrained by contact with the environment. Our approach is motivated by the insight that even a large number of demonstrations will often not contain sufficient information to obtain a general policy for the task. To obtain general policies, our approac...
