论文标题
通过快速电动机适应的手内对象旋转
In-Hand Object Rotation via Rapid Motor Adaptation
论文作者
论文摘要
长期以来，通用的内部操纵一直是机器人技术的尚未解决的挑战。作为朝着这个宏伟目标迈出的一小步，我们演示了如何设计和学习一个简单的自适应控制器，以仅使用指尖实现对物体旋转。只针对圆柱体对象进行了模拟，对控制器进行了训练，然后可以将其直接部署到真实的机器人手上，以旋转数十个具有不同尺寸，形状和重量的物体，Z轴上的物体。这是通过仅使用本体感受历史记录将控制器快速在线适应对象属性实现的。此外，自然和稳定的手指步态会通过强化学习自动从训练控制政策中出现。可以在https://haozhi.io/hora上找到代码和更多视频
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 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 https://haozhi.io/hora
