BlenDAgger: Blended Shared Control for Interactive Imitation Learning

Robot policies are frequently trained from human corrections, yet teleoperating a robot to provide corrections is burdensome, and human demonstrators are not always optimal. We propose Blended DAgger (BlenDAgger), an approach for collecting data to train imitation learning policies by using shared control to blend the policy's and demonstrator's actions during interventions.

Aus dem Abstract. Unsere Zusammenfassung folgt.