Solving Rubik's cube with a single robotic hand that was 2019!
Would it not be great to have a robot most of the domestic chores for you including meal preparation and cooking!
"... For this to work, the “teacher” network is trained on information about the object and robot that’s easily available in simulation, but not in the real world, such as the location of fingertips or object velocity. To ensure that the robots can work outside of the simulation, the knowledge of the “teacher” is distilled into observations that can be acquired in the real world, such as depth images captured by cameras, object pose, and the robot’s joint positions. They also used a “gravity curriculum,” where the robot first learns the skill in a zero-gravity environment, and then slowly adapts the controller to the normal gravity condition, which, when taking things at this pace, really improved the overall performance. ..."
From the abstract:
"In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can learn to reorient objects with both the hand facing upwards and downwards. We demonstrate the capability of reorienting over 2000 geometrically different objects in both cases. The learned policies show strong zero-shot transfer performance on new objects ..."
A System for General In-Hand Object Re-Orientation (open access)
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