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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 🧵👇

159,809 просмотров • 2 лет назад •via X (Twitter)

Комментарии: 11

Фото профиля Chen Wang
Chen Wang2 лет назад

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.

Фото профиля Chen Wang
Chen Wang2 лет назад

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.

Фото профиля Chen Wang
Chen Wang2 лет назад

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.

Фото профиля Karol Hausman
Karol Hausman2 лет назад

Congrats, great work!

Фото профиля Chen Wang
Chen Wang2 лет назад

Thanks Karol!

Фото профиля Deepak Pathak
Deepak Pathak2 лет назад

very cool task and results, congrats!!

Фото профиля Chen Wang
Chen Wang2 лет назад

Thanks Deepak! Very interested in LEAP hand and functional grasp

Фото профиля Lucy Shi
Lucy Shi2 лет назад

super cool work, @chenwang_j!

Фото профиля Chen Wang
Chen Wang2 лет назад

Thanks Lucy!

Фото профиля Kevin Zakka
Kevin Zakka2 лет назад

Very inspiring, congrats!

Фото профиля Chen Wang
Chen Wang2 лет назад

Thanks Kevin! huge fan of RoboPianist!

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