Language-ConditionedImitationLearningforRobot ManipulationTasks

Learning robot control policies by imitation [31]isan appealing approach toskill acquisition and has been successfully applied to several tasks, including locomotion, grasping, and even table tennis [8, 2, 25]. In this paradigm, expert demonstrations of robot motion are first recorded via kinesthetic teaching, teleoperation, or other input modalities.