DURableVS: Data-efficient Unsupervised Recalibrating Visual Servoing via online learning in a structured generative model
Nishad Gothoskar,Miguel Lazaro-Gredilla,Yasemin Bekiroglu,Abhishek Agarwal,Joshua B. Tenenbaum,Vikash K. Mansinghka,Dileep George,Nishad Gothoskar,Miguel Lazaro-Gredilla,Yasemin Bekiroglu,Abhishek Agarwal,Joshua B. Tenenbaum,Vikash K. Mansinghka,Dileep George
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods require either precise calibration of the robot kinematic model and cameras or use neural architectures that require large amounts of data to train. In this work, we present a method for unsupervised learning of visual servoing that does not require any...
