A decomposed adversarial imitation learning framework with a unified digital human prototype transfers human loco-manipulation skills across five simulated humanoid robots, reducing per-robot training time.
Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid objects,
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Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration
A decomposed adversarial imitation learning framework with a unified digital human prototype transfers human loco-manipulation skills across five simulated humanoid robots, reducing per-robot training time.