In-Hand Object Rotation via Rapid Motor AdaptationDownload PDF

Published: 10 Sept 2022, Last Modified: 05 May 2023CoRL 2022 PosterReaders: Everyone
Keywords: Dexterous In-Hand Manipulation, Object Rotation, Reinforcement Learning
TL;DR: We present an approach for general in-hand rotation for a diverse set of objects.
Abstract: Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then – without any fine-tuning – can be directly deployed to a real robot hand to rotate dozens of objects with diverse sizes, shapes, and weights over the z-axis. This is achieved via rapid online adaptation of the robot’s controller to the object properties using only proprioception history. Furthermore, natural and stable finger gaits automatically emerge from training the control policy via reinforcement learning. Code and more videos are available at .
Student First Author: yes
Supplementary Material: zip
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