Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery
Chia-Man Hung Li Sun Yizhe Wu Ioannis Havoutis Ingmar Posner Chia-Man Hung Li Sun Yizhe Wu Ioannis Havoutis Ingmar Posner
End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an out-of-distribution state caused by compounding errors. In this paper, instead of using tactile feedback or explicitly detecting the failure through vision, we...