Ashish Patel 🇮🇳’s Post

𝗗𝗮𝘆-𝟮𝟲𝟵 𝗖𝗼𝗺𝗽𝘂𝘁𝗲𝗿 𝗩𝗶𝘀𝗶𝗼𝗻 𝗟𝗲𝗮𝗿𝗻𝗶𝗻𝗴 𝗗𝗲𝗲𝗽 𝗜𝗺𝗶𝘁𝗮𝘁𝗶𝗼𝗻 𝗟𝗲𝗮𝗿𝗻𝗶𝗻𝗴 for Bimanual Robotic Manipulation Follow me for a similar post: 🇮🇳 Ashish Patel Interesting Facts : 🔸 This paper is published NeurIPS2020 with 4 citations. ------------------------------------------------------------------- 𝗔𝗺𝗮𝘇𝗶𝗻𝗴 𝗥𝗲𝘀𝗲𝗮𝗿𝗰𝗵 : https://lnkd.in/evZuRbFa Code: https://lnkd.in/eZvHages ------------------------------------------------------------------- 𝗜𝗠𝗣𝗢𝗥𝗧𝗔𝗡𝗖𝗘 🔸 We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. 🔸We hypothesize that modeling the relational information in the environment can significantly improve generalization. To achieve this, we propose to (i) decompose the multi-modal dynamics into elemental movement primitives, (ii) parameterize each primitive using a recurrent graph neural network to capture interactions, and (iii) integrate a high-level planner that composes primitives sequentially and a low-level controller to combine primitive dynamics and inverse kinematics control. 🔸Our model is a deep, hierarchical, modular architecture. Compared to baselines, our model generalizes better and achieves higher success rates on several simulated bimanual robotic manipulation tasks. #computervision #artificialintelligence #innovation ------------------------------