Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies (opens in new tab)

Collaborative mobile manipulation requires robots to coordinate with a partially observed partner while physically interacting through shared objects. This is difficult because failures often arise not from poor local skills, but from mistimed waiting, yielding, pulling, releasing, or repositioning. We study this problem with two bimanual mobile manipulators coupled through rigid and deformable objects. We propose Sequential Asymmetric Imitation...