Learning Multi-Arm Manipulation Through Collaborative Teleoperation
Albert Tung Josiah Wong Ajay Mandlekar Roberto Martín-Martín Yuke Zhu Li Fei-Fei Silvio Savarese Albert Tung Josiah Wong Ajay Mandlekar Roberto Martín-Martín Yuke Zhu Li Fei-Fei Silvio Savarese
Imitation Learning (IL) is a powerful paradigm to teach robots to perform manipulation tasks by allowing them to learn from human demonstrations collected via teleoperation, but has mostly been limited to single-arm manipulation. However, many real-world tasks require multiple arms, such as lifting a heavy object or assembling a desk. Unfortunately, applying IL to multi-arm manipulation tasks has ...