In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can learn to reorient objects with both the hand facing upwards and downwards. We demonstrate the capability of reorienting over 2000 geometrically different objects in both cases. The learned policies show strong zero-shot transfer performance on new objects. We provide evidence that these policies are amenable to real-world operation by distilling them to use observations easily available in the real world. The videos of the learned policies are available at: https://taochenshh.github.io/projects/in-hand-reorientation.
翻译:由于高维振动空间和手指与物体之间接触状态的频繁变化,对物体的定向调整一直是机器人中一个具有挑战性的问题。我们提出了一个简单的无型框架,可以学习用手向上和向下调整物体的方向。我们展示了在两种情况下对2000年不同物体进行几何调整的能力。所学的政策显示新物体的零射转移性能很强。我们提供了证据,证明这些政策适合现实世界的操作,方法是通过提取它们来利用在现实世界中容易获得的观测结果。所学政策的录像可在以下网址查阅:https://taochensh.github.io/projects/in-hand-re方向。