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Researchers, Including HaozhiQ, Develop Sim-to-Real Method for In-Hand Manipulation of Pen-Like Objects

Jul 29, 2024, 01:24 PM

Researchers, including HaozhiQ, have successfully developed a method for in-hand manipulation of pen-like objects using robot hands. This achievement comes after nearly 2.5 years of research, overcoming challenges in current learning-based methods. The process involved a sim-to-real approach, training an oracle policy in simulation, collecting real-world trajectories in an open-loop manner, and fine-tuning a visuomotor policy on real-world data. This breakthrough has potential applications for manipulating various tools shaped like pens, such as hammers and screwdrivers.