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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

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51,389 次观看 • 3 年前 •via X (Twitter)

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Kay - Liyiming Ke 的头像

Kay - Liyiming Ke3 年前

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.

Kay - Liyiming Ke 的头像

Kay - Liyiming Ke3 年前

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.

Kay - Liyiming Ke 的头像

Kay - Liyiming Ke3 年前

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

Kay - Liyiming Ke 的头像

Kay - Liyiming Ke3 年前

♥️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.

Chenhao Li 的头像

Chenhao Li3 年前

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

C. Zhang 的头像

C. Zhang3 年前

Chopsticks master!

Turing Post (Ksenia Se) 的头像

Turing Post (Ksenia Se)3 年前

Precise!

Necromancer 的头像

Necromancer3 年前

Amazing fine manipulation results!

Samarth Brahmbhatt 的头像

Samarth Brahmbhatt3 年前

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.

Kay - Liyiming Ke 的头像

Kay - Liyiming Ke3 年前

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

Yanko 的头像

Yanko1 年前

Cool :)

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