PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning

no code implementations • 1 Mar 2024 • Tian Gao, Soroush Nasiriany, Huihan Liu, Quantao Yang, Yuke Zhu

Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors.

Imitation Learning

Transferring Knowledge for Reinforcement Learning in Contact-Rich Manipulation

no code implementations • 19 Sep 2022 • Quantao Yang, Johannes A. Stork, Todor Stoyanov

We propose to learn prior distribution over the specific skill required to accomplish each task and compose the family of skill priors to guide learning the policy for a new task by comparing the similarity between the target task and the prior ones.

reinforcement-learning Reinforcement Learning (RL)