Augmentation for Learning From Demonstration with Environmental Constraints

no code implementations • 13 Oct 2022 • Xing Li, Manuel Baum, Oliver Brock

We introduce a Learning from Demonstration (LfD) approach for contact-rich manipulation tasks with articulated mechanisms.

"The World Is Its Own Best Model": Robust Real-World Manipulation Through Online Behavior Selection

no code implementations • 9 May 2022 • Manuel Baum, Oliver Brock

Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure.