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Our refined policy, learned through Policy Decorator, achieves remarkably high success rates while retaining the favorable attributes of the original base policy. On this page, we compare our refined policy against the base policy (specifically, Diffusion Policy) to demonstrate how our refined policy effortlessly navigates through the most challenging parts of the task, where the base policy falls short.
Key Observations:Â
As shown in the videos below, we found that in challenging tasks requiring precise control, the offline-trained base policy often fails to navigate through the finest parts of the task. In contrast, Policy Decorator successfully refines the base policy in these critical parts while remaining closely aligned with the base policy overall. To emphasize the difference, we slow down the video at the finest parts of the task, highlight the specific region with a red box, and visualize how Policy Decorator improves the base policy's precision and control.
bet_output_bg_new_peg.mp4The Peg Insertion task requires highly precise manipulation, with the hole having only 3mm of clearance. It requires at least half of the peg to be pushed sideways into the hole, making it more challenging than similar tasks [1]. The base policy manages to transport the peg near the hole but fails to align it correctly, resulting in unsuccessful insertion. In contrast, our refined policy learned by Policy Decorator accurately inserts the peg into the hole while maintaining smooth motion.
[1] Jing Xu, Zhimin Hou, Zhi Liu, and Hong Qiao. Compare contact model-based control and contact model-free learning: A survey of robotic peg-in-hole assembly strategies. arXiv preprint arXiv:1904.05240, 2019.
bet_output_bg_new_faucet.mp4In the Turn Faucet task, the base policy's behavior appears promising and nearly completes the task. However, the gripper narrowly misses the faucet handle, resulting in failure. In contrast, Policy Decorator corrects the base policy's behavior during the handle-turning phase, ensuring that the gripper successfully touches the faucet handle while leaving other parts of the trajectory roughly unchanged.
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