Pretraining a modular transformer policy on human demonstrations then finetuning on a small robot dataset improves success on six real quadruped manipulation tasks, including out-of-distribution objects.
Multimodality robotic systems: Integrated com- bined legged-aerial mobility for subterranean search-and- rescue
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Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
Pretraining a modular transformer policy on human demonstrations then finetuning on a small robot dataset improves success on six real quadruped manipulation tasks, including out-of-distribution objects.