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Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control
[article]
2021
arXiv
pre-print
Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans can manipulate objects in varying conditions. Key to such capability is hand-eye coordination, a cognitive ability that enables humans to adaptively direct their movements at task-relevant objects and be invariant to the objects' absolute spatial location. In
arXiv:2103.00375v2
fatcat:iwzmwsmbmjfclekqf4xyejxvza