论文标题
演示一次，立即模仿（圆顶）：学习视觉伺服仿制品学习
Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning
论文作者
论文摘要
我们提出了圆顶，这是一种单发模仿学习的新方法，可以从单个演示中学习任务，然后立即部署，而无需任何进一步的数据收集或培训。圆顶不需要先前的任务或对象知识，并且可以在新颖的对象配置和干扰器中执行任务。圆顶以图像调节对象分割网络的核心，然后是学习的视觉宣传网络，将机器人的终端效果转移到相同的相对姿势到对象的相同姿势与演示期间，之后可以通过重播演示示范的最终效应速度来完成任务。我们表明，圆顶在7个现实世界中的日常任务上取得了接近100％的成功率，并且我们进行了几项研究，以彻底了解圆顶的每个组成部分。视频和补充材料可在以下网址获得：https：//www.robot-learning.uk/dome。
We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior task or object knowledge, and can perform the task in novel object configurations and with distractors. At its core, DOME uses an image-conditioned object segmentation network followed by a learned visual servoing network, to move the robot's end-effector to the same relative pose to the object as during the demonstration, after which the task can be completed by replaying the demonstration's end-effector velocities. We show that DOME achieves near 100% success rate on 7 real-world everyday tasks, and we perform several studies to thoroughly understand each individual component of DOME. Videos and supplementary material are available at: https://www.robot-learning.uk/dome .
