I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulation
Policies trained offline from teleoperated demonstrations can degrade outside their training distribution. This gap is particularly acute in long-horizon whole-body mobile manipulation, where long horizons amplify compounding errors and coordinated arm, torso, and base motion makes exhaustive demonstration coverage imp...
Wen-Si Ai, Christopher Luey, Karthik Dharmarajan et al.
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