AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

摘要

Fig. 1: Left: Human instructions for each stage (top) are translated at the pixel level into robot instructions (bottom) via CycleGAN. Right: The robot attempts the task stage-wise, automatically resetting and retrying until the instruction classifier signals success, prompting the human to confirm via key press. Algorithmic details are provided in Algorithm 1.