CoStream composes semantic, predictive, and reactive behaviors on an SE(3) interface to enable precise, generalizable performance on eight real-world contact-rich manipulation tasks.
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Artifacts in the environment can reduce the memory an RL agent needs to represent its history, as shown by a mathematical proof and experiments with spatial paths.
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CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
CoStream composes semantic, predictive, and reactive behaviors on an SE(3) interface to enable precise, generalizable performance on eight real-world contact-rich manipulation tasks.
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Artifacts as Memory Beyond the Agent Boundary
Artifacts in the environment can reduce the memory an RL agent needs to represent its history, as shown by a mathematical proof and experiments with spatial paths.