LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery
Weikang Wan,Yifeng Zhu,Rutav Shah,Yuke Zhu,Weikang Wan,Yifeng Zhu,Rutav Shah,Yuke Zhu
We introduce LOTUS, a continual imitation learning algorithm that empowers a physical robot to continuously and efficiently learn to solve new manipulation tasks throughout its lifespan. The core idea behind LOTUS is constructing an ever-growing skill library from a sequence of new tasks with a small number of human demonstrations. LOTUS starts with a continual skill discovery process using an ope...
