Skill Generalization with Verbs
Rachel Ma,Lyndon Lam,Benjamin A. Spiegel,Aditya Ganeshan,Roma Patel,Ben Abbatematteo,David Paulius,Stefanie Tellex,George Konidaris,Rachel Ma,Lyndon Lam,Benjamin A. Spiegel,Aditya Ganeshan,Roma Patel,Ben Abbatematteo,David Paulius,Stefanie Tellex,George Konidaris
It is imperative that robots can understand natural language commands issued by humans. Such commands typically contain verbs that signify what action should be performed on a given object and that are applicable to many objects. We propose a method for generalizing manipulation skills to novel objects using verbs. Our method learns a probabilistic classifier that determines whether a given object...
