2023-12-02-chen23e.md

title	section	openreview	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation	Poster	2Qrd-Yw4YmF	Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility, capable of seamlessly transitioning between different modes of functionality without the need for re-grasping or external tools. However, the challenges arise due to the high-dimensional action space of dexterous hand and complex compositional dynamics of the long-horizon tasks. We present Sequential Dexterity, a general system based on reinforcement learning (RL) that chains multiple dexterous policies for achieving long-horizon task goals. The core of the system is a transition feasibility function that progressively finetunes the sub-policies for enhancing chaining success rate, while also enables autonomous policy-switching for recovery from failures and bypassing redundant stages. Despite being trained only in simulation with a few task objects, our system demonstrates generalization capability to novel object shapes and is able to zero-shot transfer to a real-world robot equipped with a dexterous hand. Code and videos are available at https://sequential-dexterity.github.io.	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	chen23e	0	Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation	3809	3829	3809-3829	3809	false	Chen, Yuanpei and Wang, Chen and Fei-Fei, Li and Liu, Karen	given family Yuanpei Chen given family Chen Wang given family Li Fei-Fei given family Karen Liu	2023-12-02		Proceedings of The 7th Conference on Robot Learning	229	inproceedings	date-parts 2023 12 2	https://proceedings.mlr.press/v229/chen23e/chen23e.pdf