635 citations · 656 across the 2 of their papers we have counts for
3 papers · 1 filter
Asymmetric self-play for automatic goal discovery in robotic manipulation
OpenAI OpenAI, Matthias Plappert, Raul Sampedro +13
We train a single, goal-conditioned policy that can solve many robotic manipulation tasks, including tasks with previously unseen goals and objects. We rely on asymmetric self-play…
Solving Rubik's Cube with a Robot Hand
OpenAI, Ilge Akkaya, Marcin Andrychowicz +16
We demonstrate that models trained only in simulation can be used to solve a manipulation problem of unprecedented complexity on a real robot. This is made possible by two key comp…
Learning Dexterous In-Hand Manipulation
OpenAI, Marcin Andrychowicz, Bowen Baker +14
We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The tra…