Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering

Xinghao Zhu, JingHan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai, Jun Lv, Qingtao Liu, Yuwei Zeng, Qi Ye, Cewu Lu, Masayoshi Tomizuka, Lin Shao 0002. Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering. In Jie Tan, Marc Toussaint, Kourosh Darvish, editors, Conference on Robot Learning, CoRL 2023, 6-9 November 2023, Atlanta, GA, USA. Volume 229 of Proceedings of Machine Learning Research, pages 499-512, PMLR, 2023. [doi]