Article

DR-LfD: Decomposing and Reorganizing Demonstrations with Atomic Skills and Visuomotor Policies for Bimanual Manipulation Planning

The authors propose DR-LfD, a framework that integrates visuomotor policies into a TAMP-gated decision-making system, decomposes human demonstrations into atomic skills based on contact relationships, and then reproduces and reorganizes them using visuomotor policies or object-centric primitives. This method shifts the demonstration data requirement from growing exponentially with the skill sequence to growing with the number of skill types, and on two DexMimicGen tasks it outperforms a diffusion imitation policy trained on 1,000 demonstrations while using only 100 demonstrations. The paper has been accepted by T-RO.

Part of the event: DR-LfD: Decomposing Demonstrated Skills and Integrating Them into TAMP Gating

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