Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation
Annie Xie,Lisa Lee,Ted Xiao,Chelsea Finn,Annie Xie,Lisa Lee,Ted Xiao,Chelsea Finn
What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors of variation, such as the lighting conditions or the placement of the camera. Empirically, generalization to some of these factors have presented a greater obst...
