Universal Visual Decomposer: Long-Horizon Manipulation Made Easy
Zichen Zhang,Yunshuang Li,Osbert Bastani,Abhishek Gupta,Dinesh Jayaraman,Yecheng Jason Ma,Luca Weihs,Zichen Zhang,Yunshuang Li,Osbert Bastani,Abhishek Gupta,Dinesh Jayaraman,Yecheng Jason Ma,Luca Weihs
Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable subtasks to facilitate policy learning and generalization to unseen tasks. Prior task decomposition methods require task-specific knowledge, are computationally in...
