Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans
Homanga Bharadhwaj,Abhinav Gupta,Vikash Kumar,Shubham Tulsiani,Homanga Bharadhwaj,Abhinav Gupta,Vikash Kumar,Shubham Tulsiani
We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such generalist robots. Unlike typical robot learning approaches which directly learn how a robot should act from interaction data, we adopt a factorized approach that can le...
