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Let’s do 🍒 Cherry Picking with Reinforcement Learning - 🥢 Dynamic fine manipulation with chopsticks - 🤖 Only 30 minutes of real world interactions - ⛔️ Too lazy for parameter tuning = off-the-shelf RL algo + default params + 3 seeds in real world

Kay - Liyiming Ke

1,650 subscribers

51,389 просмотров • 3 лет назад •via X (Twitter)

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Комментарии: 11

Фото профиля Kay - Liyiming Ke

Kay - Liyiming Ke3 лет назад

1/3 - We developed a system for fine manipulation (small objects! 🍒) without rigid surface support (floating 🌊, windy 🍃, etc) using chopsticks🥢 (simple tool for fine manipulation). Our agent learned to be reactive & robust to dynamic scenes in the real world.

Фото профиля Kay - Liyiming Ke

Kay - Liyiming Ke3 лет назад

2/3 - Our proposal has 3 steps. First, pre-train in sim and leverage demos from heuristic-based visual servo and randomized dynamics. Then, fine-tune in the real world on a single object but make it haaarrd. Finally, deploy to downstream tasks with test-time perception modules.

Фото профиля Kay - Liyiming Ke

Kay - Liyiming Ke3 лет назад

3/3 - Our secret sauce ㊙️ is to understand the impact of each the design choice. We documented our journey + ablation studies in

Фото профиля Kay - Liyiming Ke

Kay - Liyiming Ke3 лет назад

♥️Kudos to all collaborators @yunchuzh @ab_deshpande @abhishekunique7 @siddhss5, and 🙇everyone who has helped along the way! This project gave me the most fun I had in grad school.

Фото профиля Chenhao Li

Chenhao Li3 лет назад

Hope one day it can reproduce Kung Fu Panda chopstick skills 😆

Фото профиля C. Zhang

C. Zhang3 лет назад

Chopsticks master!

Фото профиля Turing Post (Ksenia Se)

Turing Post (Ksenia Se)3 лет назад

Precise!

Фото профиля Necromancer

Necromancer3 лет назад

Amazing fine manipulation results!

Фото профиля Samarth Brahmbhatt

Samarth Brahmbhatt3 лет назад

Very interesting work @xkelym! I very much appreciate: - description of the steps needed for real-robot fine tuning - sim system identification - comprehensive experiments! We also had a recent paper about a contact-rich task (inserting plates and cups), though 0-shot transfer.

Фото профиля Kay - Liyiming Ke

Kay - Liyiming Ke3 лет назад

Thanks! I am also fascinated by contact-rich tasks. Looking forward to read your work.

Фото профиля Yanko

Yanko1 год назад

Cool :)

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