Shape-Based Transfer of Generic Skills
Skye Thompson Leslie Pack Kaelbling Tomas Lozano-Perez Skye Thompson Leslie Pack Kaelbling Tomas Lozano-Perez
We propose a new, data-efficient approach for skill transfer to novel objects, accounting for known categorical shape variation. A low-dimensional shape representation embedding is learned from a set of deformations, sampled between known objects within a category. This latent representation is mapped to a set of control parameters that result in successful execution of a category-level skill on t...