{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/deep-imitation-learning-for-complex","title":"Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation","arxiv_id":"1710.04615","date":"2017-10-12","proceeding":null,"authors":["Tianhao Zhang","Zoe McCarthy","Owen Jow","Dennis Lee","Xi Chen","Ken Goldberg","Pieter Abbeel"],"abstract":"Imitation learning is a powerful paradigm for robot skill acquisition.\nHowever, obtaining demonstrations suitable for learning a policy that maps from\nraw pixels to actions can be challenging. In this paper we describe how\nconsumer-grade Virtual Reality headsets and hand tracking hardware can be used\nto naturally teleoperate robots to perform complex tasks. We also describe how\nimitation learning can learn deep neural network policies (mapping from pixels\nto actions) that can acquire the demonstrated skills. Our experiments showcase\nthe effectiveness of our approach for learning visuomotor skills.","url_abs":"http://arxiv.org/abs/1710.04615v2","url_pdf":"http://arxiv.org/pdf/1710.04615v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"deep-imitation-learning-for-complex","repo_url":"https://github.com/NathanMalta/VRImitationLearning","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"deep-imitation-learning-for-complex","repo_url":"https://github.com/h2r/ImitateLearning-Movo","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}},{"paper_slug":"deep-imitation-learning-for-complex","repo_url":"https://github.com/h2r/parameterized-imitation-learning","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"imitation-learning","task_name":"Imitation Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1710.04615","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}