Asking for Help: Failure Prediction in Behavioral Cloning through Value Approximation
Cem Gokmen,Daniel Ho,Mohi Khansari,Cem Gokmen,Daniel Ho,Mohi Khansari
Recent progress in end-to-end Imitation Learning approaches has shown promising results and generalization capabilities on mobile manipulation tasks. Such models are seeing increasing deployment in real-world settings, where scaling up requires robots to be able to operate with high autonomy, i.e. requiring as little human supervision as possible. In order to avoid the need for one-on-one human su...
