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Learning Dexterous Manipulation Policies from Experience and Imitation
Vikash Kumar, Abhishek Gupta, Emanuel Todorov +1
We explore learning-based approaches for feedback control of a dexterous five-finger hand performing non-prehensile manipulation. First, we learn local controllers that are able to…
Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer
Coline Devin, Abhishek Gupta, Trevor Darrell +2
Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation en…
Genetic Transfer or Population Diversification? Deciphering the Secret Ingredients of Evolutionary Multitask Optimization
Abhishek Gupta, Yew-Soon Ong
Evolutionary multitasking has recently emerged as a novel paradigm that enables the similarities and/or latent complementarities (if present) between distinct optimization tasks to…
Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration
Abhishek Gupta, Clemens Eppner, Sergey Levine +1
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often ex…