Paper ID: 2411.03682

LEGATO: Cross-Embodiment Imitation Using a Grasping Tool

Mingyo Seo, H. Andy Park, Shenli Yuan, Yuke Zhu, Luis Sentis

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots. Using this gripper, we train visuomotor policies via imitation learning, applying a motion-invariant transformation to compute the training loss. Gripper motions are then retargeted into high-degree-of-freedom whole-body motions using inverse kinematics for deployment across diverse embodiments. Our evaluations in simulation and real-robot experiments highlight the framework's effectiveness in learning and transferring visuomotor skills across various robots. More information can be found at the project page: this https URL

Submitted: Nov 6, 2024