arxivcs.RO2026-07-15
Learning Forward & Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks
Yexin Hu, Haoyi Zheng, Johannes Heidersberger, Dongheui Lee
Learning from demonstration (LfD) enables robots to learn manipulation skills directly from expert demonstrations but remains challenging for contact-rich tasks involving geometric constraints and force interaction. Existing approaches typically require multiple complete demonstr…