HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning

Recent advancements in generative imitation learning have significantly propelled the field of robotic manipulation. However, the majority of existing models rely heavily on Behavior Cloning (BC), a paradigm that suffers from compounding errors and distributional shift. Consequently, the efficacy of...