MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.
Interactive imitation learning for dexterous robotic manipulation: Challenges and perspectivesa survey
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MoRI: Mixture of RL and IL Experts for Long-Horizon Manipulation Tasks
MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.