Twisting Lids Off with Two Hands (2403.02338v2)
Abstract: Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system. In this work, we share novel insights into physical modeling, real-time perception, and reward design that enable policies trained in simulation using deep reinforcement learning (RL) to be effectively and efficiently transferred to the real world. Specifically, we consider the problem of twisting lids of various bottle-like objects with two hands, demonstrating policies with generalization capabilities across a diverse set of unseen objects as well as dynamic and dexterous behaviors. To the best of our knowledge, this is the first sim-to-real RL system that enables such capabilities on bimanual multi-fingered hands.
- Certifying bimanual rrt motion plans in a second. arXiv:2310.16603, 2023.
- Holo-dex: Teaching dexterity with immersive mixed reality. In ICRA, 2023a.
- Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation. In ICRA, 2023b.
- Exploration by random network distillation. In ICLR, 2019.
- Six-dof impedance control of dual-arm cooperative manipulators. Transactions on Mechatronics, 2008.
- Benchmark for bimanual robotic manipulation of semi-deformable objects. RA-L, 2020.
- A system for general in-hand object re-orientation. In CoRL, 2021.
- Visual dexterity: In-hand reorientation of novel and complex object shapes. Science Robotics, 2023a.
- Towards human-level bimanual dexterous manipulation with reinforcement learning. In NeurIPS, 2022.
- Sequential dexterity: Chaining dexterous policies for long-horizon manipulation. In CoRL, 2023b.
- Xmem: Long-term video object segmentation with an atkinson-shiffrin memory model. In ECCV, 2022.
- Bimanual regrasping for suture needles using reinforcement learning for rapid motion planning. In ICRA, 2021.
- Fast and accurate deep network learning by exponential linear units. arXiv:1511.07289, 2015.
- Constrained bimanual planning with analytic inverse kinematics. arXiv:2309.08770, 2023.
- Low-cost exoskeletons for learning whole-arm manipulation in the wild. arXiv:2309.14975, 2023.
- Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system. In ICRA, 2020.
- Dextreme: Transfer of agile in-hand manipulation from simulation to reality. In ICRA, 2023.
- Dynamic handover: Throw and catch with bimanual hands. In CoRL, 2023.
- Learning agile and dynamic motor skills for legged robots. Science Robotics, 2019.
- Bi-manual manipulation and attachment via sim-to-real reinforcement learning. arXiv:2203.08277, 2022.
- Sampling-based exploration for reinforcement learning of dexterous manipulation. In RSS, 2023.
- Segment anything. In ICCV, 2023.
- A bimanual manipulation taxonomy. RA-L, 2022.
- The kit bimanual manipulation dataset. In Humanoids, 2021.
- Rma: Rapid motor adaptation for legged robots. In RSS, 2021.
- Shared-autonomy control for intuitive bimanual tele-manipulation. In Humanoids, 2018.
- Efficient bimanual handover and rearrangement via symmetry-aware actor-critic learning. In ICRA, 2023.
- Asymmetric bimanual control of dual-arm exoskeletons for human-cooperative manipulations. Transactions on Robotics, 2017.
- Mimex: Intrinsic rewards from masked input modeling. In NeurIPS, 2023.
- Bi-touch: Bimanual tactile manipulation with sim-to-real deep reinforcement learning. RA-L, 2023.
- Isaac gym: High performance gpu-based physics simulation for robot learning. arXiv:2108.10470, 2021.
- Learning robust perceptive locomotion for quadrupedal robots in the wild. Science Robotics, 2022.
- Factory: Fast contact for robotic assembly. In RSS, 2022.
- Solving rubik’s cube with a robot hand. arXiv:1910.07113, 2019.
- A humanoid two-arm system for dexterous manipulation. In Humanoids, 2006.
- American Academy Of Pediatrics. Caring for Your Baby and Young Child: Birth to Age 5. American Academy Of Pediatrics, 2019.
- Asymmetric actor critic for image-based robot learning. In RSS, 2018.
- Dextrous tactile in-hand manipulation using a modular reinforcement learning architecture. In ICRA, 2023.
- Manipulation Gaits: Sequences of Grasp Control Tasks. In ICRA, 2004.
- In-hand object rotation via rapid motor adaptation. In CoRL, 2022.
- General in-hand object rotation with vision and touch. In CoRL, 2023.
- From one hand to multiple hands: Imitation learning for dexterous manipulation from single-camera teleoperation. RA-L, 2022.
- Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system. In RSS, 2023.
- Estimator-coupled reinforcement learning for robust purely tactile in-hand manipulation. In Humanoids, 2023.
- Dynamic control of 3-d rolling contacts in two-arm manipulation. In ICRA, 1993.
- High-dimensional continuous control using generalized advantage estimation. arXiv:1506.02438, 2015.
- Waypoint-based imitation learning for robotic manipulation. In CoRL, 2023.
- Dual arm manipulation - a survey. Robotics and Autonomous Systems, 2012.
- Bimanual compliant tactile exploration for grasping unknown objects. In ICRA, 2014.
- Bio-inspired motion strategies for a bimanual manipulation task. In Humanoids, 2010.
- A system for imitation learning of contact-rich bimanual manipulation policies. In IROS, 2022.
- Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation. arXiv:2312.13469, 2023.
- Bimanual grasp planning. In Humanoids, 2011.
- Renee Watling. Peabody Developmental Motor Scales. Springer, 2013.
- Rotating without seeing: Towards in-hand dexterity through touch. In RSS, 2023.
- Robot synesthesia: In-hand manipulation with visuotactile sensing. In ICRA, 2024.
- Robopianist: Dexterous piano playing with deep reinforcement learning. In CoRL, 2023.
- Leveraging multimodal haptic sensory data for robust cutting. In Humanoids, 2019.
- Learning fine-grained bimanual manipulation with low-cost hardware. In RSS, 2023.