Abstract: Learning from demonstration (LfD) has proved useful for teaching robots complex skills with high sample efficiency. However, teaching long-horizon tasks with multiple skills is challenging as deviations tend to accumulate, the distributional shift becomes more evident, and human teachers become fatigued over time, thereby increasing the likelihood of failure. To … [Read more...] about Sequentially Teaching Sequential Tasks (ST)2: Teaching Robots Long-Horizon Manipulation Skills
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