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We introduce a system for fine-grained robotic manipulation! 🤖 What’s new? * We can control cheap robots to do surprisingly dexterous tasks * New technique that allows robots to learn fine motor skills A short thread 🧵

Chelsea Finn

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264,480 次观看 • 3 年前 •via X (Twitter)

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Chelsea Finn 的头像

Chelsea Finn3 年前

First, the hardware: We use simple puppeteering. Just copy the joint angles from the leader to the follower robot. No tactile or force feedback. The manufacturer (@trossenrobotics) didn’t know these tasks were possible.

Chelsea Finn 的头像

Chelsea Finn3 年前

Can the robot do all this on its own? We train the robot to predict actions in chunks, rather than one at a time. Recipe: action chunking + transformers + only 50 demonstrations The robot *autonomously* completes fine manipulation skills. ⬇️

Chelsea Finn 的头像

Chelsea Finn3 年前

But wait, there’s more! Website & Code: Paper: You can buy the full kit directly from Trossen: Led by the amazing @tonyzzhao, with @svlevine, @Vikashplus

Deepak Pathak 的头像

Deepak Pathak3 年前

Great to see it being finally released. Looks very cool. Congrats @chelseabfinn and @tonyzzhao !!

Danijar Hafner 的头像

Danijar Hafner3 年前

This looks super cool, congrats!! To what extent do the policies generalize (e.g. object variations, positions)?

Chelsea Finn 的头像

Chelsea Finn3 年前

Thanks @danijarh! The demos include ~15cm of object position variation, and the policies generalize to that degree. Need more & wider demo data for more generalization. We also see some generalization to distractors & disturbances.

Co Builder 的头像

Co Builder3 年前

This is mind blowing!! 🤩! Congrats!!

Tran Van Phu 的头像

Tran Van Phu3 年前

@LukeW I'm having the fastest hosting and utility design. Who needs can contact:

Snm_Str 的头像

Snm_Str3 年前

@futuristufuk

Multimodal 的头像

Multimodal3 年前

Impressive!

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