  We propose a technique for multi-task learning from demonstration that trains
the controller of a low-cost robotic arm to accomplish several complex picking
and placing tasks, as well as non-prehensile manipulation. The controller is a
recurrent neural network using raw images as input and generating robot arm
trajectories, with the parameters shared across the tasks. The controller also
combines VAE-GAN-based reconstruction with autoregressive multimodal action
prediction. Our results demonstrate that it is possible to learn complex
manipulation tasks, such as picking up a towel, wiping an object, and
depositing the towel to its previous position, entirely from raw images with
direct behavior cloning. We show that weight sharing and reconstruction-based
regularization substantially improve generalization and robustness, and
training on multiple tasks simultaneously increases the success rate on all
tasks.
