Multi-Task Learning with Sequence-Conditioned Transporter Networks
Michael H. Lim,Andy Zeng,Brian Ichter,Maryam Bandari,Erwin Coumans,Claire Tomlin,Stefan Schaal,Aleksandra Faust,Michael H. Lim,Andy Zeng,Brian Ichter,Maryam Bandari,Erwin Coumans,Claire Tomlin,Stefan Schaal,Aleksandra Faust
Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling these approaches to solve such compositional tasks remains a challenge. In this work, we aim to solve multi-task learning through the lens of sequence-conditioning and weighted sampling. First, we propose a new suite of be...
