no code implementations • 23 Mar 2023 • Sameer Pai, Tao Chen, Megha Tippur, Edward Adelson, Abhishek Gupta, Pulkit Agrawal
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer.
1 code implementation • 21 Nov 2022 • Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, Pulkit Agrawal
The controller is trained using reinforcement learning in simulation and evaluated in the real world on new object shapes not used for training, including the most challenging scenario of reorienting objects held in the air by a downward-facing hand that must counteract gravity during reorientation.