Tanmay Shankar, Shubham Tulsiani, Lerrel Pinto, Abhinav Gupta

Research output: Contribution to conferencePaperpeer-review


In this paper, we present an approach to learn recomposable motor primitives across large-scale and diverse manipulation demonstrations. Current approaches to decomposing demonstrations into primitives often assume manually defined primitives and bypass the difficulty of discovering these primitives. On the other hand, approaches in primitive discovery put restrictive assumptions on the complexity of a primitive, which limit applicability to narrow tasks. Our approach attempts to circumvent these challenges by jointly learning both the underlying motor primitives and recomposing these primitives to form the original demonstration. Through constraints on both the parsimony of primitive decomposition and the simplicity of a given primitive, we are able to learn a diverse set of motor primitives, as well as a coherent latent representation for these primitives. We demonstrate, both qualitatively and quantitatively, that our learned primitives capture semantically meaningful aspects of a demonstration. This allows us to compose these primitives in a hierarchical reinforcement learning setup to efficiently solve robotic manipulation tasks like reaching and pushing.

Original languageEnglish (US)
StatePublished - 2020
Event8th International Conference on Learning Representations, ICLR 2020 - Addis Ababa, Ethiopia
Duration: Apr 30 2020 → …


Conference8th International Conference on Learning Representations, ICLR 2020
CityAddis Ababa
Period4/30/20 → …

ASJC Scopus subject areas

  • Education
  • Linguistics and Language
  • Language and Linguistics
  • Computer Science Applications


Dive into the research topics of 'DISCOVERING MOTOR PROGRAMS BY RECOMPOSING DEMONSTRATIONS'. Together they form a unique fingerprint.

Cite this