Efficient Bimanual Manipulation Using Learned Task Schemas
Rohan Chitnis,Shubham Tulsiani,Saurabh Gupta,Abhinav Gupta,Rohan Chitnis,Shubham Tulsiani,Saurabh Gupta,Abhinav Gupta
We address the problem of effectively composing skills to solve sparse-reward tasks in the real world. Given a set of parameterized skills (such as exerting a force or doing a top grasp at a location), our goal is to learn policies that invoke these skills to efficiently solve such tasks. Our insight is that for many tasks, the learning process can be decomposed into learning a state-independent t...
