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Imitation learning works™ – but you need good data 🥹 How to get high-quality visuotactile demos from a bimanual robot with multifingered hands, and learn smooth policies? Check our new work “Learning Visuotactile Skills with Two Multifingered Hands”! 🙌

Toru

1,847 subscribers

61,504 просмотров • 2 лет назад •via X (Twitter)

Образование Наука и технологии

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Комментарии: 10

Фото профиля Toru

Toru2 лет назад

We tackle two key challenges: 1. Lack of affordable and accessible teleoperation systems for bimanual multifingered hands 2. Lack of good hand hardware equipped with touch sensing

Фото профиля Toru

Toru2 лет назад

To address the first challenge, we develop HATO ("dove" 🕊️ in Japanese), a low-cost Hands-Arms TeleOperation system using Meta Quest 2. Our system demonstrates precise motion control capabilities and human-like dexterity -- we even controlled our robot to play Hollow Knight!

Фото профиля Toru

Toru2 лет назад

To tackle the latter challenge, we adapt two @PSYONICinc prosthetic hands with touch sensors for research, enabling visuotactile data collection with HATO. We learn skills that can complete long-horizon, high-precision tasks and generalize to different environment settings.

Фото профиля Toru

Toru2 лет назад

We empirically investigate the effects of dataset size, sensing modality, and visual input preprocessing on policy learning. Results and analysis can be found in our paper:

Фото профиля Toru

Toru2 лет назад

We have also released a comprehensive software suite that supports efficient data collection, multimodal data processing, scalable policy learning, and smooth policy deployment. See our Github repo for more details:

Фото профиля Toru

Toru2 лет назад

Project page: Huge thanks to amazing collaborators -- @YZ_Franklin, @qiyang_li , @HaozhiQ , @brenthyi, @svlevine, and @JitendraMalikCV !!! from @berkeley_ai 🤖

Фото профиля Jitendra MALIK

Jitendra MALIK2 лет назад

There have been impressive recent results using tele-op trajectories for training robot policies. These are typically for hands that are parallel jaw grippers; work led by @ToruO_O in our lab at BAIR shows that one can do this now for multifingered hands with vision and touch.

Фото профиля Hongyu Li

Hongyu Li2 лет назад

Great work! Congrats

Фото профиля Haotian (Sean) Liu

Haotian (Sean) Liu2 лет назад

Wow, the Hollow Knight demo is superb! がんばって

Фото профиля tommy

tommy2 лет назад

awesome 🤩

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