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- W4286905708 abstract "We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple pick-and-place solution. Our method is a reinforcement learning (RL) approach combined with vision-based interactive policy distillation and simulation-to-reality transfer. Our learned policies can efficiently handle multiple object combinations in the real world and exhibit a large variety of stacking skills. In a large experimental study, we investigate what choices matter for learning such general vision-based agents in simulation, and what affects optimal transfer to the real robot. We then leverage data collected by such policies and improve upon them with offline RL. A video and a blog post of our work are provided as supplementary material." @default.
- W4286905708 created "2022-07-25" @default.
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- W4286905708 date "2021-10-12" @default.
- W4286905708 modified "2023-09-26" @default.
- W4286905708 title "Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes" @default.
- W4286905708 doi "https://doi.org/10.48550/arxiv.2110.06192" @default.
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