From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning

Understand

Recent years have witnessed many successful trials in the robot learning field.

• For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning.
• Imitation learning solves this problem by using a mimic reward to encourage the robot to track a given reference trajectory.
• However, imitation learning is not so efficient and may constrain the learned motion.