Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning

Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen, Huazhe Xu

Keywords: Visual Generalization, Sim2real, Reinforcement Learning

TL;DR: A generalizable framework for visual RL, and can facilitate the sim2real transfer.

Abstract: Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose Maniwhere, a generalizable framework tailored for visual reinforcement learning, enabling the trained robot policies to generalize across a combination of multiple visual disturbance types. Specifically, we introduce a multi-view representation learning approach fused with Spatial Transformer Network (STN) module to capture shared semantic information and correspondences among different viewpoints. In addition, we employ a curriculum-based randomization and augmentation approach to stabilize the RL training process and strengthen the visual generalization ability. To exhibit the effectiveness of Maniwhere, we meticulously design **8** tasks encompassing articulate objects, bi-manual, and dexterous hand manipulation tasks, demonstrating Maniwhere's strong visual generalization and sim2real transfer abilities across **3** hardware platforms. Our experiments show that Maniwhere significantly outperforms existing state-of-the-art methods. Videos are provided at https://maniwhere.github.io.

Website: https://gemcollector.github.io/maniwhere/

Student Paper: yes

Submission Number: 8