Transformer-based deep imitation learning for dual-arm robot manipulation
Heecheol Kim,Yoshiyuki Ohmura,Yasuo Kuniyoshi,Heecheol Kim,Yoshiyuki Ohmura,Yasuo Kuniyoshi
Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging. In a dual-arm manipulation setup, the increased number of state dimensions caused by the additional robot manipulators causes distractions and results in poor pe...
