Summary Abstract Ideally, robots should be able to learn from very few demonstrations of any given task, and instantly generalize to new situations of the same task, without requiring task-specific engineering. In this paper, we propose a meta-learning framework for achieving such capability, which we call one-shot imitation learning. Task examples: to stack all blocks […]
Introduction Conditional version of Generative Adversarial Nets (GAN) where both generator and discriminator are conditioned on some data y (class label or data from some other modality). Architecture Feed y into both the generator and discriminator as additional input layers such that y and input are combined in a joint hidden representation.