Composable Interaction Primitives: A Structured Policy Class for Efficiently Learning Sustained-Contact Manipulation Skills
Ben Abbatematteo,Eric Rosen,Skye Thompson,Tuluhan Akbulut,Sreehari Rammohan,George Konidaris,Ben Abbatematteo,Eric Rosen,Skye Thompson,Tuluhan Akbulut,Sreehari Rammohan,George Konidaris
We propose a new policy class, Composable Interaction Primitives (CIPs), specialized for learning sustained-contact manipulation skills like opening a drawer, pulling a lever, turning a wheel, or shifting gears. CIPs have two primary design goals: to minimize what must be learned by exploiting structure present in the world and the robot, and to support sequential composition by construction, so t...
