Bizhe Bai

Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering

Learning from Demonstration (LfD) is an efficient technique for robots to acquire new skills through expert observation, significantly mitigating the need for laborious manual reward function design. This paper introduces a novel framework for model-based LfD in the context of robotic manipulation.…