no code implementations • 6 Sep 2023 • David B. D'Ambrosio, Jonathan Abelian, Saminda Abeyruwan, Michael Ahn, Alex Bewley, Justin Boyd, Krzysztof Choromanski, Omar Cortes, Erwin Coumans, Tianli Ding, Wenbo Gao, Laura Graesser, Atil Iscen, Navdeep Jaitly, Deepali Jain, Juhana Kangaspunta, Satoshi Kataoka, Gus Kouretas, Yuheng Kuang, Nevena Lazic, Corey Lynch, Reza Mahjourian, Sherry Q. Moore, Thinh Nguyen, Ken Oslund, Barney J Reed, Krista Reymann, Pannag R. Sanketi, Anish Shankar, Pierre Sermanet, Vikas Sindhwani, Avi Singh, Vincent Vanhoucke, Grace Vesom, Peng Xu
We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets.
no code implementations • 27 Mar 2023 • Satoshi Kataoka, Youngseog Chung, Seyed Kamyar Seyed Ghasemipour, Pannag Sanketi, Shixiang Shane Gu, Igor Mordatch
Without manually-designed controller nor human demonstrations, we demonstrate that with careful Sim2Real considerations, our policies trained with RL in simulation enable two xArm6 robots to solve the U-shape assembly task with a success rate of above90% in simulation, and 50% on real hardware without any additional real-world fine-tuning.
no code implementations • 15 Mar 2022 • Satoshi Kataoka, Seyed Kamyar Seyed Ghasemipour, Daniel Freeman, Igor Mordatch
Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement.
no code implementations • 15 Mar 2022 • Seyed Kamyar Seyed Ghasemipour, Daniel Freeman, Byron David, Shixiang Shane Gu, Satoshi Kataoka, Igor Mordatch
Despite the simplicity of this objective, the compositional nature of building diverse blueprints from a set of blocks leads to an explosion of complexity in structures that agents encounter.