Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation.
Liyiming KeJingqiang WangTapomayukh BhattacharjeeByron BootsSiddhartha S. SrinivasaPublished in: ICRA (2021)
Keyphrases
- model free
- imitation learning
- covariate shift
- reinforcement learning
- manipulation tasks
- robotic systems
- humanoid robot
- reinforcement learning methods
- model selection
- reinforcement learning algorithms
- semi supervised learning
- function approximation
- vision system
- active learning
- temporal difference
- state space
- cross validation
- learning algorithm
- maximum margin
- mobile robot
- machine learning
- optimal policy
- supervised learning
- learning tasks
- markov decision processes
- data sets
- dynamic programming