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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 Aufrufe • vor 2 Jahren •via X (Twitter)

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10 Kommentare

Profilbild von Toru

Toruvor 2 Jahren

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

Profilbild von Toru

Toruvor 2 Jahren

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!

Profilbild von Toru

Toruvor 2 Jahren

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.

Profilbild von Toru

Toruvor 2 Jahren

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:

Profilbild von Toru

Toruvor 2 Jahren

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:

Profilbild von Toru

Toruvor 2 Jahren

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

Profilbild von Jitendra MALIK

Jitendra MALIKvor 2 Jahren

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.

Profilbild von Hongyu Li

Hongyu Livor 2 Jahren

Great work! Congrats

Profilbild von Haotian (Sean) Liu

Haotian (Sean) Liuvor 2 Jahren

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

Profilbild von tommy

tommyvor 2 Jahren

awesome 🤩

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