A weakly-supervised CVAE with action chunking lets a robot change wiping speed online from instruction labels, but the same mechanism fails to disentangle wiping force and fails on spatial pick-and-place directives.
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Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
A weakly-supervised CVAE with action chunking lets a robot change wiping speed online from instruction labels, but the same mechanism fails to disentangle wiping force and fails on spatial pick-and-place directives.