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How to chain multiple dexterous skills to tackle complex long-horizon manipulation tasks? Imagine retrieving a LEGO block from a pile, rotating it in-hand, and inserting it at the desired location to build a structure. Introducing our new work - Sequential Dexterity 🧵👇

Chen Wang

3,414 subscribers

159,809 次观看 • 2 年前 •via X (Twitter)

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11 条评论

Chen Wang 的头像

Chen Wang2 年前

The core of the system is a learning-based transition feasibility function that progressively finetunes the sub-policies (learned with RL) for enhancing chaining success, which can also be used during skill selection for re-planning from failures and bypassing redundant stages.

Chen Wang 的头像

Chen Wang2 年前

Despite being trained only in simulation with a few task objects, our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand.

Chen Wang 的头像

Chen Wang2 年前

We hope Sequential Dexterity paves the path for future research on long-horizon dexterous manipulation. Feel free to check out our code! Website & Paper: Code: Work done w/ Yuanpei Chen, @drfeifei, and Karen Liu at @StanfordAILab.

Karol Hausman 的头像

Karol Hausman2 年前

Congrats, great work!

Chen Wang 的头像

Chen Wang2 年前

Thanks Karol!

Deepak Pathak 的头像

Deepak Pathak2 年前

very cool task and results, congrats!!

Chen Wang 的头像

Chen Wang2 年前

Thanks Deepak! Very interested in LEAP hand and functional grasp

Lucy Shi 的头像

Lucy Shi2 年前

super cool work, @chenwang_j!

Chen Wang 的头像

Chen Wang2 年前

Thanks Lucy!

Kevin Zakka 的头像

Kevin Zakka2 年前

Very inspiring, congrats!

Chen Wang 的头像

Chen Wang2 年前

Thanks Kevin! huge fan of RoboPianist!

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