One-shot Visual Imitation via Attributed Waypoints and Demonstration Augmentation
Matthew Chang,Saurabh Gupta,Matthew Chang,Saurabh Gupta
In this paper, we analyze the behavior of existing techniques and design new solutions for the problem of one-shot visual imitation. In this setting, an agent must solve a novel instance of a novel task given just a single visual demonstration. Our analysis reveals that current methods fall short because of three errors: the DAgger problem arising from purely offline training, last centimeter erro...
