Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation
Kai Lu,Bo Yang,Bing Wang,Andrew Markham,Kai Lu,Bo Yang,Bing Wang,Andrew Markham
Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to unseen objects. We conjecture that this is due to the high-dimensional action space for joint control. In this paper, we take an alternative approach and separate t...
