Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon
Manipulation
- URL: http://arxiv.org/abs/2309.00987v2
- Date: Mon, 16 Oct 2023 05:05:56 GMT
- Title: Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon
Manipulation
- Authors: Yuanpei Chen, Chen Wang, Li Fei-Fei, C. Karen Liu
- Abstract summary: We present Sequential Dexterity, a general system that chains multiple dexterous policies for achieving long-horizon task goals.
The core of the system is a transition feasibility function that progressively finetunes the sub-policies for enhancing chaining success rate.
Our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand.
- Score: 28.37417344133933
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Many real-world manipulation tasks consist of a series of subtasks that are
significantly different from one another. Such long-horizon, complex tasks
highlight the potential of dexterous hands, which possess adaptability and
versatility, capable of seamlessly transitioning between different modes of
functionality without the need for re-grasping or external tools. However, the
challenges arise due to the high-dimensional action space of dexterous hand and
complex compositional dynamics of the long-horizon tasks. We present Sequential
Dexterity, a general system based on reinforcement learning (RL) that chains
multiple dexterous policies for achieving long-horizon task goals. The core of
the system is a transition feasibility function that progressively finetunes
the sub-policies for enhancing chaining success rate, while also enables
autonomous policy-switching for recovery from failures and bypassing redundant
stages. Despite being trained only in simulation with a few task objects, our
system demonstrates generalization capability to novel object shapes and is
able to zero-shot transfer to a real-world robot equipped with a dexterous
hand. Code and videos are available at https://sequential-dexterity.github.io
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