Presentation
Learning to Use Chopsticks in Diverse Gripping Styles
SessionTechnical Papers
Event Type
Technical Paper
Research & Education
Virtual
Full Conference Supporter
Full Conference
Virtual Conference Supporter
Virtual Conference
Exhibitor Additional Full Conference
Exhibitor Full Conference
Time
Location
DescriptionWe propose a physics-based learning and control framework for using chopsticks. Robust hand controls for multiple hand morphologies and holding positions are first learned through Bayesian optimization and deep reinforcement learning. For tasks such as object relocation, the low-level controllers track collision-free trajectories synthesized by a high-level motion planner.
