One_Shot Imitation Learning: A Pose Estimation Perspective

Pietro Vitiello, Kamil Dreczkowski, and Edward Johns

Published at CoRL 2023

Mini abstract. We study how unseen object pose estimation can be used to transfer a trajectory from a single demonstration to a novel scene. Through a series of investigations, we analyse the key factors influencing this process and showcase the expected performance of state-of-the-art pose estimators on real-world robotics tasks.