TR2023-045
Learning Generalizable Pivoting Skills
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- "Learning Generalizable Pivoting Skills", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10161271, May 2023.BibTeX TR2023-045 PDF
- @inproceedings{Zhang2023may4,
- author = {Zhang, Xiang and Jain, Siddarth and Baichuan, Huang and Tomizuka, Masayoshi and Romeres, Diego},
- title = {Learning Generalizable Pivoting Skills},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10161271},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-045}
- }
,
- "Learning Generalizable Pivoting Skills", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10161271, May 2023.
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MERL Contacts:
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Research Area:
Abstract:
The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across different objects. This paper proposes a framework for learning robust and generalizable pivoting skills, which consists of three steps. First, we learn a pivoting policy on an “unitary” object using Reinforcement Learning (RL). Then, we obtain the object’s feature space by supervised learning to encode the kinematic properties of arbitrary objects. Finally, to adapt the unitary policy to multiple objects, we learn data-driven projections based on the object features to adjust the state and action space of the new pivoting task. The proposed approach is entirely trained in simulation. It requires only one depth image of the object and can zero-shot transfer to real-world objects. We demonstrate robustness to sim-to-real transfer and generalization to multiple objects.
Related News & Events
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NEWS MERL Researchers Present Thirteen Papers at the 2023 IEEE International Conference on Robotics and Automation (ICRA) Date: May 29, 2023 - June 2, 2023
Where: 2023 IEEE International Conference on Robotics and Automation (ICRA)
MERL Contacts: Anoop Cherian; Radu Corcodel; Siddarth Jain; Devesh K. Jha; Toshiaki Koike-Akino; Tim K. Marks; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres
Research Areas: Computer Vision, Machine Learning, Optimization, RoboticsBrief- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.
In addition to the paper presentations, MERL robotics researchers will also host an exhibition booth and look forward to discussing our research with visitors.
- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.