Henry Ang

ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation

We present Asymmetric Critic Guided Distillation, ACGD, a framework for learning multi-task dexterous manipulation policies that can manipulate articulated objects using images as input. ACGD is a scalable student-teacher distillation approach that utilizes behavior cloning to distill multiple exper