An Empirical Study and Analysis of Learning Generalizable Manipulation Skill in the SAPIEN Simulator

Kun Liu, Huiyuan Fu, Zheng Zhang, huanpu yin

Keywords: Empirical Study, Manipulation Skill, 3D Simulator

TL;DR: a brief overview of our submission to the no interaction track of SAPIEN ManiSkill Challenge 2021

Abstract: This paper provides a brief overview of our submission to the no interaction track of SAPIEN ManiSkill Challenge 2021. Our approach follows an end-to-end pipeline which mainly consists of two steps: first, we extract the point cloud features of multiple objects; then we adopt these features to predict the action score of the robot simulators through a deep and wide transformer-based network. More specially, %to give guidance for future work, open up avenues for exploitation of learning manipulation skill tasks, we present an empirical study that includes a bag of tricks and abortive attempts. Finally, our method achieves a promising ranking on the leaderboard. All code of our solution is available at https://github.com/liu666666/bigfish_codes.

Community Implementations: [ 3 code implementations](https://www.catalyzex.com/paper/an-empirical-study-and-analysis-of-learning/code)