Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning
Eugene Valassakis,Georgios Papagiannis,Norman Di Palo,Edward Johns,Eugene Valassakis,Georgios Papagiannis,Norman Di Palo,Edward Johns
We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior task or object knowledge, and can perform the task in novel object configurations and with distractors. At its core, DOME uses an image-conditioned object segmenta...
