Main Real World Results (featured by high-speed, fine-grained movements, sophisiticated gaiting, and realiability)
Diverse ``Pen'' Spinning Skills
Pass-v0
01 Pass-v0 continuous success
02 Pass-v0 continuous rotation (10.5 rotation episodes)
Pass-v1
01 Pass-v1 continuous success
02 Pass-v1 continuous rotation (4 rotation episodes)
Pass-v2
01 Pass-v2 continuous success
02 Pass-v2 continuous rotation (2 rotation episodes)
Pass-v3
01 Pass-v3 continuous success
02 Pass-v3 continuous rotation (3 rotation episodes)
Thumb-Around
01 Thumb-Around (rigid object) task continuous success
04 Diverse Thumb-Around Rotations
Simple Sonic-1
01 Simple Sonic-1 task with 50 in 50 success
04 Sonic Rotations
01 Simple Sonic-1 task with 50 in 50 success
01 Simple Sonic-1 task with 50 in 50 success
Three-finger-pass (palm up)
01 Three-finger-pass (palm up) continuous success
02 Three-finger-pass (palm up) continuous rotation (25+ mins, 91 episodes x 2pi)
01 Three-finger-pass (palm up) continuous success
02 Three-finger-pass (palm up) continuous rotation (6 mins)
Three-finger-pass (palm down)
01 Three-finger-pass (palm down) continuous success
02 Three-finger-pass (palm down) continuous rotation (13+ mins)
Three-finger-pass-v2 (palm down)
01 Three-finger-pass-v2 (palm down) continuous success
02 Three-finger-pass-v2 (palm down) continuous rotation (5+ mins)
Four-finger-pass (palm down)
01 Four-finger-pass (palm down) continuous rotation (30+ mins, 134 x 2pi in total)
02 Four-finger-pass (palm down) continuous rotation (15+ mins, 134 x 2pi in total)
Four-finger-pass (palm down)
01 Four-finger-pass (palm down, leap) task continuous success (50 in 50)
02 Four-finger-pass (palm down, leap) task continuous success (48 in 50)
03 Four-finger-pass (palm down, leap) task continuous rotation
04 Four-finger-pass (palm down, leap) task continuous rotation
Zero-shot Adaptation to 1) different object materials, 2) changed dynamics, 3) various object shapes.
Zero-shot Adaptation
01 Adapation to new geometry (cylinder -> hexagonal prism, octagonal prism; continuous rotation & multiple successes)
02 Adapation to unseen materials (rigid -> soft; continuous rotation & multiple successe)
03 Adaptation to diverse shapes (T shape, L shape, ellipse, c-ellipse)
04 Adapation to a thinner object (2.0 cm -> 1.4 cm)
05 Adaptation to new object shapes (T shape, L shape, long board)
06 Adaptation to OOD object mass
Some interesting results from our experiments.
Few-shot Adaptation
01 A low-friction object (from lees than 50% success rate to 94% success rate (47/50))
02 Remove the tape wrapped around the fingers (from less than 10% success rate to around 72% success rate)
02 Adapation to unseen materials (rigid -> soft; from less than 10% success rate to 96% success rate (48/50))
02 Adapation to unseen materials (rigid -> soft; from less than 10% success rate to 96% success rate (48/50))
03 New object geometry (from around 40% to 100% success rate)
04 Adapation to object with a larger diamerter (1.4 cm -> 1.6 cm, from around 50% success rate to 100% success rate)
Fun Results
Fun Results
01 Fun Result (1) - Pass-v2
02 Fun Result (2) - Policy resulting from an intermediate reward searched by GPT
The idea
TODO
The method