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We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator.
1906
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1910
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A. M. Okamura, N. Smaby, and M. R. Cutkosky, “An overview of dexterous manipulation,” in
2000
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2008
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2010
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B. Kehoe, S. Patil, P. Abbeel, and K. Goldberg, “A survey of research on cloud robotics and automation,”
2015
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A. Mandlekar*, Y. Zhu*, A. Garg*, L. Fei-Fei, and S. Savarese (* equal contribution), “Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations,” in
2017
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J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov, “Proximal policy optimization algorithms,” 2017
2017
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2017
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2017
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2018
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X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel, “Sim-to-real transfer of robotic control with dynamics randomization,” in
2018
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M. Wüthrich, F. Widmaier, O. Ahmed, and V. Agrawal, “Trifinger object tracking,” 2020. [Online]. Available:
2020
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2021
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2021
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2021
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2018
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J. Liang, V. Makoviychuk, A. Handa, N. Chentanez, M. Macklin, and D. Fox, “GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning,” in
2018
Cited alongside, same era.
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter, “Learning agile and dynamic motor skills for legged robots,”
2019
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Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. Ratliff, and D. Fox, “Closing the sim-to-real loop: Adapting simulation randomization with real world experience,” 2019
2019
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F. Shi, T. Homberger, J. Lee, T. Miki, M. Zhao, F. Farshidian, K. Okada, M. Inaba, and M. Hutter, “Circus anymal: A quadruped learning dexterous manipulation with its limbs,” 2020
2020
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“Real robot challenge,” 2020. [Online]. Available:
2020
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2021
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C. D. Freeman, E. Frey, A. Raichuk, S. Girgin, I. Mordatch, and O. Bachem, “Brax - a differentiable physics engine for large scale rigid body simulation,” 2021. [Online]. Available:
2021
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2021
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D. Makoviichuk and V. Makoviychuk, “Rl games,” 2021. [Online]. Available:
2021
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