Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation
Liyiming Ke Jingqiang Wang Tapomayukh Bhattacharjee Byron Boots Siddhartha Srinivasa Liyiming Ke Jingqiang Wang Tapomayukh Bhattacharjee Byron Boots Siddhartha Srinivasa
Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for picking up small objects, making them a suitably complex test case. This paper leverages human demonstrations to develop an autonomous chopsticks-equipped robotic manipulator. Due to the lack of accurate models for fine m...