Hierarchical Human-to-Robot Imitation Learning for Long-Horizon Tasks via Cross-Domain Skill Alignment
Zhenyang Lin,Yurou Chen,Zhiyong Liu,Zhenyang Lin,Yurou Chen,Zhiyong Liu
For a general-purpose robot, it is desirable to imitate human demonstration videos that can effectively solve long-horizon tasks and perform novel ones. Recent advances in skill-based imitation learning have shown that extracting skill embedding from raw human videos is a promising paradigm to enable robots to cope with long-horizon tasks. However, generalization to unseen tasks in a different dom...
