Yohan Park
M.S. Student, KAIST
john.a.park [AT] kaist.ac.kr
Whole-Body Imitation for Mobile Manipulation
9-DoF Control via CVAE and Mobile ALOHA
Course: CS477 Introduction to Intelligent Robotics (Feb 2024 - Jun 2024)
Full project title: Whole-body manipulation of quadrupedal mobile manipulator via imitation learning
TL;DR
- Enabled 9-DoF mobile manipulator control via imitation learning using a Conditional Variational Autoencoder (CVAE).
- Achieved about 60% average task success rate.
- Extended the Mobile ALOHA framework and implemented the system collaboratively with team members.
Contents to be updated.