✍️Description

In this project, we utilize a reinforcement learning (RL) agent to jointly control two arms to rearrange objects as fast as possible. To reduce the policy search space in the bimanual control setting, we develop a symmetry-aware actor-critic framework that leverages the interchangeable roles of the two manipulators. To handle the compositionally over multiple objects, we augment training data with an object-centric relabeling technique. Our policy can rearrange up to 8 objects with a success rate of over 70% in simulation and was deployed to two Franka Panda arms. More details in https://sites.google.com/view/bimanual .
 
Contribution: As the co-first author, I come up with the idea of the symmetry-aware actor-critic framework to leverage the structure of bimanual manipulation problems. I designed and finished all implementations and experiments in simulation. The object-centric relabeling technique and hardware deployment part is a joint effort with another co-author.

💁Abstract

Bimanual manipulation is important for building intelligent robots that unlock richer skills than single arms. We consider a multi-object bimanual rearrangement task, where a reinforcement learning (RL) agent aims to jointly control two arms to rearrange these objects as fast as possible. Solving this task efficiently is challenging for an RL agent due to the requirement of discovering precise intra-arm coordination in exponentially large control space. We develop a symmetryaware actor-critic framework that leverages the interchangeable roles of the two manipulators in the bimanual control setting to reduce the policy search space. To handle the compositionality over multiple objects, we augment training data with an objectcentric relabeling technique. The overall approach produces an RL policy that can rearrange up to 8 objects with a success rate of over 70% in simulation. We deploy the policy to two Franka Panda arms and further show a successful demo on human-robot collaboration.
notion image

🚘Hardware Implementation

Deployment on Real Robots
Human-robot Cooperation

🗣️Presentation

 
 
badge