Wiping the table
For wiping the table, we observe two types of active camera motion:
- Videos 1-2: maintaining the location of the end effector in the frame (i.e. syncing with the robot motion).
- Videos 3-5: moving closer to the table and moving up to observe the table top.
Top: used observation from the active camera view; Bottom: the same recording but from another static view for better visualization
Door opening
We also observe roughly two kinds of sensory policies can be obtained for completing the task:
- Videos 1-3: focusing on the end-effector and the door handle.
- Videos 4-5: focusing on the whole robot arm and the door.
Top: used observation from the active camera view; Bottom: the same recording but from another static view for better visualization
Failure cases
We observe that the sensory policy can seek for robot end-effector although some tasks are failed.
Top: used observation from the active camera view; Bottom: the same recording but from another static view for better visualization