Goal-Conditioned End-to-End Visuomotor Control for Versatile Skill Primitives
Oliver Groth Chia-Man Hung Andrea Vedaldi Ingmar Posner Oliver Groth Chia-Man Hung Andrea Vedaldi Ingmar Posner
Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick- and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives. However, common conditioning schemes either rely on task-specific fine tuning - e.g. using one-shot imitation learning (IL) - or on sampling approaches using a for...