DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Ankur Handa,Arthur Allshire,Viktor Makoviychuk,Aleksei Petrenko,Ritvik Singh,Jingzhou Liu,Denys Makoviichuk,Karl Van Wyk,Alexander Zhurkevich,Balakumar Sundaralingam,Yashraj Narang,Ankur Handa,Arthur Allshire,Viktor Makoviychuk,Aleksei Petrenko,Ritvik Singh,Jingzhou Liu,Denys Makoviichuk,Karl Van Wyk,Alexander Zhurkevich,Balakumar Sundaralingam,Yashraj Narang
Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to transfer to the real world due to the gap between simulation and reality. In this paper, we present our techniques to train a) a policy that can perform robust de...
