Reactive Long Horizon Task Execution via Visual Skill and Precondition Models
Shohin Mukherjee,Chris Paxton,Arsalan Mousavian,Adam Fishman,Maxim Likhachev,Dieter Fox,Shohin Mukherjee,Chris Paxton,Arsalan Mousavian,Adam Fishman,Maxim Likhachev,Dieter Fox
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often infeasible. We describe an approach for sim-to-real training that can accomplish unseen robotic tasks using models learned in simulation to ground components of a si...
