Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control
Chen Wang,Rui Wang,Ajay Mandlekar,Li Fei-Fei,Silvio Savarese,Danfei Xu,Chen Wang,Rui Wang,Ajay Mandlekar,Li Fei-Fei,Silvio Savarese,Danfei Xu
Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans can manipulate objects in varying conditions. Key to such capability is hand-eye coordination, a cognitive ability that enables humans to adaptively direct their...
