Bimanual Rope Manipulation Skill Synthesis through Context Dependent Correction Policy Learning from Human Demonstration
Baturhan Akbulut,Tuba Girgin,Arash Mehrabi,Minoru Asada,Emre Ugur,Erhan Oztop,Baturhan Akbulut,Tuba Girgin,Arash Mehrabi,Minoru Asada,Emre Ugur,Erhan Oztop
Learning from demonstration (LfD) with behavior cloning is attractive for its simplicity; however, compounding errors in long and complex skills can be a hindrance. Considering a target skill as a sequence of motor primitives is helpful in this respect. Then the requirement that a motor primitive ends in a state that allows the successful execution of the subsequent primitive must be met. In this ...
