Hierarchical Learning from Demonstrations for Long-Horizon Tasks
Boyao Li Jiayi Li Tao Lu Yinghao Cai Shuo Wang Boyao Li Jiayi Li Tao Lu Yinghao Cai Shuo Wang
Although reinforcement learning (RL) has achieved great success in robotic manipulation skills learning, it is still challenging for long-horizon tasks. Combining RL with demonstrations is an effective solution. In this paper, we propose a novel hierarchical learning from demonstrations method for long-horizon tasks, which leverages (i) object-centered segmentation of demonstrations to automatical...