DITTO: Demonstration Imitation by Trajectory Transformation

arXiv:2403.15203v1 Announce Type: cross
Abstract: Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording through a two-stage process. In the first stage which is offline, we extract the trajectory of the demonstration. This entails segmenting manipulated objects and determining their relative motion in relation to secondary objects such as containers. Subsequently, in …

arxiv cs.cv cs.ro ditto trajectory transformation type