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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

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159,809 görüntüleme • 2 yıl önce •via X (Twitter)

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Chen Wang profil fotoğrafı

Chen Wang2 yıl önce

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 profil fotoğrafı

Chen Wang2 yıl önce

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 profil fotoğrafı

Chen Wang2 yıl önce

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 profil fotoğrafı

Karol Hausman2 yıl önce

Congrats, great work!

Chen Wang profil fotoğrafı

Chen Wang2 yıl önce

Thanks Karol!

Deepak Pathak profil fotoğrafı

Deepak Pathak2 yıl önce

very cool task and results, congrats!!

Chen Wang profil fotoğrafı

Chen Wang2 yıl önce

Thanks Deepak! Very interested in LEAP hand and functional grasp

Lucy Shi profil fotoğrafı

Lucy Shi2 yıl önce

super cool work, @chenwang_j!

Chen Wang profil fotoğrafı

Chen Wang2 yıl önce

Thanks Lucy!

Kevin Zakka profil fotoğrafı

Kevin Zakka2 yıl önce

Very inspiring, congrats!

Chen Wang profil fotoğrafı

Chen Wang2 yıl önce

Thanks Kevin! huge fan of RoboPianist!

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