Dexterous Manipulation from Images: Autonomous Real-World RL via Substep Guidance
Kelvin Xu,Zheyuan Hu,Ria Doshi,Aaron Rovinsky,Vikash Kumar,Abhishek Gupta,Sergey Levine,Kelvin Xu,Zheyuan Hu,Ria Doshi,Aaron Rovinsky,Vikash Kumar,Abhishek Gupta,Sergey Levine
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning offer an appealing choice for such settings, as they can enable robots to learn to delicately balance contact forces and dexterously reposition objects without ...
