Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Aravind Rajeswaran *, Vikash Kumar *, Abhishek Gupta, Giulia Vezzani,
John Schulman, Emanuel Todorov, Sergey Levine
Algorithm: Demo Augmented Policy Gradients (DAPG)
Algorithm: Demo Augmented Policy Gradients (DAPG)
Results
Results
Additional Results
Additional Results
Adroit Hand attempting to reorient the dice. Desired orientation is displayed on the right.
On-going work
On-going work
WAM arm lending a helping hand to ADROIT hand to help learn some in-hand manipulation skills. (The initial RL rollouts are quite amusing to observe)
Bibliography
Bibliography
@INPROCEEDINGS{Rajeswaran-RSS-18, AUTHOR = {Aravind Rajeswaran* AND Vikash Kumar* AND Abhishek Gupta AND Giulia Vezzani AND John Schulman AND Emanuel Todorov AND Sergey Levine}, TITLE = "{Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations}", BOOKTITLE = {Proceedings of Robotics: Science and Systems (RSS)}, YEAR = {2018},}