Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation

Published: 05 Sept 2024, Last Modified: 08 Nov 2024CoRL 2024EveryoneRevisionsBibTeXCC BY 4.0
Keywords: Dexterous Manipulation Planning, Learning with Demonstrations
TL;DR: We introduce a manipulation planner that enables bootstrapped reinforcement learning of dexterous and whole-body manipulation tasks.
Abstract: Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations, typically from humans. Existing planners are restricted to specific systems and often depend on specialized algorithms for using demonstrations. Therefore, we introduce a flexible motion planner tailored to dexterous and whole-body manipulation tasks. Our planner creates readily usable demonstrations for reinforcement learning algorithms, eliminating the need for additional training pipeline complexities. With this approach, we can efficiently learn policies for complex manipulation tasks, where traditional reinforcement learning alone only makes little progress. Furthermore, we demonstrate that learned policies are transferable to real robotic systems for solving complex dexterous manipulation tasks. Project website: https://jacta-manipulation.github.io/
Supplementary Material: zip
Website: https://jacta-manipulation.github.io/
Publication Agreement: pdf
Student Paper: yes
Spotlight Video: mp4
Submission Number: 357
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