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Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
Sudeep Dasari · Vikash Kumar
Event URL: https://openreview.net/forum?id=fhy9ABFXwY »

Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, they require extensive per-task engineering and algorithmic tuning. This paper seeks to escape these constraints, by developing a Pre-Grasp informed Dexterous Manipulation (PGDM) framework that generates diverse dexterous manipulation behaviors, without any task-specific reasoning or hyper-parameter tuning. At the core of PGDM is a well known robotics construct, pre-grasps (i.e. the hand-pose preparing for object interaction). This simple primitive is enough to induce efficient exploration strategies for acquiring complex dexterous manipulation behaviors. To exhaustively verify these claims, we introduce TCDM, a benchmark of 50 diverse manipulation tasks defined over multiple objects and dexterous manipulators. Tasks for TCDM are defined automatically using exem-plar object trajectories from various sources (animators, human behaviors, etc.), without any per-task engineering and/or supervision. Our experiments validate that PGDM’s exploration strategy, induced by a surprisingly simple ingredient (single pre-grasp pose), matches the performance of prior methods, which require expen-sive per-task feature/reward engineering, expert supervision, and hyper-parameter tuning. For animated visualizations, trained policies, and project code, please refer to https://sites.google.com/view/pregrasp/.

Author Information

Sudeep Dasari (Carnegie Mellon University)
Vikash Kumar (FAIR, Meta-AI)
Vikash Kumar

I am currently a research scientist at Facebook AI Research (FAIR). I have also spent some time at Google-Brain, OpenAI and Berkeley Artificial Intelligence Research (BAIR) Lab. I did my PhD at CSE, University of Washington's Movement Control Lab, under the supervision of Prof. Emanuel Todorov and Prof. Sergey Levine. I am interested in the areas of Robotics, and Embodied Artificial Intelligence. My general interest lies in developing artificial agents that are cheap, portable and exhibit complex behaviors.

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