STAP: Sequencing Task-Agnostic Policies
Christopher Agia,Toki Migimatsu,Jiajun Wu,Jeannette Bohg,Christopher Agia,Toki Migimatsu,Jiajun Wu,Jeannette Bohg
Advances in robotic skill acquisition have made it possible to build general-purpose libraries of learned skills for downstream manipulation tasks. However, naively executing these skills one after the other is unlikely to succeed without accounting for dependencies between actions prevalent in longhorizon plans. We present Sequencing Task-Agnostic Policies (STAP), a scalable framework for trainin...
