$\sim 5$) of real throws. Results on various objects show accurate throws reaching an error of approximately 4 cm. Also, the DT can extrapolate and accurately throw to goals that are out-of-distribution to the training data. We additionally show that few expert throw samples, and no pre-training in simulation, are sufficient for training an accurate policy.">

Learning to Throw With a Handful of Samples Using Decision Transformers (original) (raw)

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