Learning Latent Actions without Human Demonstrations
Shaunak A. Mehta,Sagar Parekh,Dylan P. Losey,Shaunak A. Mehta,Sagar Parekh,Dylan P. Losey
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled human either teleoperates or kinesthetically guides the robot arm through a variety of motions, and the robot learns to reproduce the demonstrated behaviors. But th...
