Could someone explain in simple terms how is the target set to the robot so that it can learn to accomplish the task? For example, what inputs are provided in order for it to understand that it needs to put the cap on the bottle?
The robot is then shown the task a few times. A human controls the robot for a few minutes, performing the task.
Then an innovative policy search finds a robust policy so the robot can perform the task from any initial position and is robust to changes such as the addition of a shirt to the hanger task after training.
Potentially the robot can learn from videos of humans performing the task - i.e. by copying people.
i.e. when given wood with a protruding nail + hammer, it relates the task to a previously trained Whac-A-Mole scenario and begins hammering the nail in.