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We apply the same randomization to the initialization of the objects during training and evaluation in simulation. To improve the robustness of the trained policy, we uniformly sample a position offset from [-1, 1] cm in the XY plane and an angle offset from [-0.1,0.1] radians along gravity vector, and apply these offsets to the initial pose of any fixed object.
Key lock - Pick up the key, insert it into the lock, and turn it 90 degrees.
Key lock - Pick up the key, insert it into the lock, and turn it 90 degrees.
Success Criteria
Success Criteria
The tip of the key is touching the back end of the lock
The key is turned 90 degrees.
The key is not being grasped.
Termination Criteria
Termination Criteria
The palm of the hand is not facing down, i.e. the angle between the normal of the transversal plane of the hand and the gravity vector is more than 30 degrees.
Initial conditions in simulation
Initial conditions in simulation
The lock is fixed to a pre-defined location.
The key is initialized either in front of the lock or randomly around the basket surface, with a 0.95 and 0.05 probability, respectively.
Initial conditions in real
Initial conditions in real
The lock is fixed to a pre-defined location.
The key is initialized in front of the lock.
Nut Unscrew - Unscrew the nut by twisting 720 degrees, and place it onto the holder.
Nut Unscrew - Unscrew the nut by twisting 720 degrees, and place it onto the holder.
Success Criteria
Success Criteria
The nut is standing on its side.
The nut is on the holder.
The nut is not being grasped.
Termination Criteria
Termination Criteria
The palm of the hand is not facing down, with a tolerance of 30 degrees.
Initial conditions in simulation
Initial conditions in simulation
The bolt is fixed to a pre-defined location.
The nut is initialized either fully threaded, threaded at a random height, or randomly dropped in the basket with probability of 0.6, 0.3, 0.1, respectively.
Initial conditions in real
Initial conditions in real
The bolt is fixed to a pre-defined location.
The nut is initialized fully threaded.
Peg Insertion - Pick up the peg, re-orient the peg 180 degrees in-hand, and insert the peg into the star-shape socket.
Peg Insertion - Pick up the peg, re-orient the peg 180 degrees in-hand, and insert the peg into the star-shape socket.
Success Criteria
Success Criteria
The peg is facing down.
The tip center of the peg is touching the bottom center of the star socket.
The peg is not being grasped.
Termination Criteria
Termination Criteria
The palm of the hand is not facing down, with a tolerance of 30 degrees.
The prop orientation changes anywhere outside of a 3 x 3 cm area around the square socket.
Initial conditions in simulation
Initial conditions in simulation
The socket base is fixed to a pre-defined location.
The peg is either in the square socket or randomly dropped in the basket, with a 0.8 and 0.2 probability, respectively.
Initial conditions in real
Initial conditions in real
The socket base is fixed to a pre-defined location.
The peg is initialized in the square socket.
Box Stand - Pick-up the box, and make it stand vertically on the table with the blue segment on top.
Box Stand - Pick-up the box, and make it stand vertically on the table with the blue segment on top.
Success Criteria
Success Criteria
The box is standing with the blue segment on the top.
The box is not being grasped.
Termination Criteria
Termination Criteria
The palm of the hand is not facing down, with a tolerance of 45 degrees.
Initial conditions in simulation
Initial conditions in simulation
The box is randomly initialized on the basket surface.
Initial conditions in real
Initial conditions in real
The box is randomly initialized on the basket surface.
Cube Flip - Grasp the cube and re-orient it 180 degrees in-hand.
Cube Flip - Grasp the cube and re-orient it 180 degrees in-hand.
Success Criteria
Success Criteria
At least two fingers are in contact with the cube.
The cube is at least 5cm above the basket surface.
The cube has been rotated by 180 degrees from its initial orientation after being lifted.
Termination Criteria
Termination Criteria
The palm of the hand is not facing down, with a tolerance of 30 degrees.
Initial conditions in simulation
Initial conditions in simulation
The cube is randomly initialized on the basket surface.
Initial conditions in real
Initial conditions in real
The cube is randomly initialized on the basket surface.
Case Open - Pick up the AirPods case, and open it in-hand.
Case Open - Pick up the AirPods case, and open it in-hand.
Success Criteria
Success Criteria
The case is at least 5cm above the basket surface.
The case cap is open (i.e. the hinge joint position is at least 90 degrees).
Termination Criteria
Termination Criteria
The case is open (at least 10 degrees) while the case is in collision with the basket surface.
Initial conditions in simulation
Initial conditions in simulation
The case is closed and randomly initialized on the basket surface.
Initial conditions in real
Initial conditions in real
The case is closed and randomly initialized on the basket surface.
Bulb Install - Grasp the bulb, re-orient it in-hand, and install it into the bayonet socket.
Bulb Install - Grasp the bulb, re-orient it in-hand, and install it into the bayonet socket.
Success Criteria
Success Criteria
The light bulb is upright.
The two insertion pins of the bulb are in the two slots of the bayonet socket.
Termination Criteria
Termination Criteria
None.
Initial conditions in simulation
Initial conditions in simulation
The bayonet socket is fixed to a pre-defined location.
The bulb is randomly initialized on the basket surface.
Initial conditions in real
Initial conditions in real
The bayonet socket is fixed to a pre-defined location.
The bulb is randomly initialized on the basket surface.
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