{"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/learning-to-coordinate-manipulation-skills","title":"Learning to Coordinate Manipulation Skills via Skill Behavior Diversification","arxiv_id":null,"date":"2020-05-01","proceeding":"ICLR 2020 1","authors":["Youngwoon Lee","Jingyun Yang","Joseph J. Lim"],"abstract":"When mastering a complex manipulation task, humans often decompose the task into sub-skills of their body parts, practice the sub-skills independently, and then execute the sub-skills together. Similarly, a robot with multiple end-effectors can perform complex tasks by coordinating sub-skills of each end-effector. To realize temporal and behavioral coordination of skills, we propose a modular framework that first individually trains sub-skills of each end-effector with skill behavior diversification, and then learns to coordinate end-effectors using diverse behaviors of the skills. We demonstrate that our proposed framework is able to efficiently coordinate skills to solve challenging collaborative control tasks such as picking up a long bar, placing a block inside a container while pushing the container with two robot arms, and pushing a box with two ant agents. Videos and code are available at https://clvrai.com/coordination","url_abs":"https://openreview.net/forum?id=ryxB2lBtvH","url_pdf":"https://openreview.net/pdf?id=ryxB2lBtvH","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":"learning-to-coordinate-manipulation-skills","repo_url":"https://github.com/clvrai/coordination","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}