Curriculum-Based Imitation of Versatile Skills
Maximilian Xiling Li,Onur Celik,Philipp Becker,Denis Blessing,Rudolf Lioutikov,Gerhard Neumann,Maximilian Xiling Li,Onur Celik,Philipp Becker,Denis Blessing,Rudolf Lioutikov,Gerhard Neumann
Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are often multi-modal, i.e., the same task is solved in multiple ways which is a major challenge for most imitation learning methods that are based on such a maximu...
