A Geometric Perspective on Visual Imitation Learning
Jun Jin,Laura Petrich,Masood Dehghan,Martin Jagersand,Jun Jin,Laura Petrich,Masood Dehghan,Martin Jagersand
We consider the problem of visual imitation learning without human kinesthetic teaching or teleoperation, nor access to an interactive reinforcement learning training environment. We present a geometric perspective to this problem where geometric feature correspondences are learned from one training video and used to execute tasks via visual servoing. Specifically, we propose VGS-IL (Visual Geomet...
