2023-12-02-biza23a.md

title	section	openreview	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
One-shot Imitation Learning via Interaction Warping	Poster	RaNAaxZfKi8	Learning robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for one-shot learning SE(3) robotic manipulation policies. We infer the 3D mesh of each object in the environment using shape warping, a technique for aligning point clouds across object instances. Then, we represent manipulation actions as keypoints on objects, which can be warped with the shape of the object. We show successful one-shot imitation learning on three simulated and real-world object re-arrangement tasks. We also demonstrate the ability of our method to predict object meshes and robot grasps in the wild. Webpage: https://shapewarping.github.io.	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	biza23a	0	One-shot Imitation Learning via Interaction Warping	2519	2536	2519-2536	2519	false	Biza, Ondrej and Thompson, Skye and Pagidi, Kishore Reddy and Kumar, Abhinav and Pol, Elise van der and Walters, Robin and Kipf, Thomas and Meent, Jan-Willem van de and Wong, Lawson L. S. and Platt, Robert	given family Ondrej Biza given family Skye Thompson given family Kishore Reddy Pagidi given family Abhinav Kumar given family Elise van der Pol given family Robin Walters given family Thomas Kipf given family Jan-Willem van de Meent given family Lawson L. S. Wong given family Robert Platt	2023-12-02		Proceedings of The 7th Conference on Robot Learning	229	inproceedings	date-parts 2023 12 2	https://proceedings.mlr.press/v229/biza23a/biza23a.pdf