5 papers · 1 filter
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation
Asad Ali Shahid, Yashraj Narang, Vincenzo Petrone +5
In recent years, deep reinforcement learning (RL) has shown its effectiveness in solving complex continuous control tasks. However, this comes at the cost of an enormous amount of…
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
Michael Noseworthy, Bingjie Tang, Bowen Wen +7
We present FORGE, a method for sim-to-real transfer of force-aware manipulation policies in the presence of significant pose uncertainty. During simulation-based policy learning, F…
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk +5
A pivotal challenge in robotics is achieving fast, safe, and robust dexterous grasping across a diverse range of objects, an important goal within industrial applications. However,…
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
Geometric Fabrics: a Safe Guiding Medium for Policy Learning
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk +3
Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have t…