{"id":148064,"date":"2022-10-13T03:50:19","date_gmt":"2022-10-13T08:50:19","guid":{"rendered":"https:\/\/lifeboat.com\/blog\/2022\/10\/in-hand-object-rotation-via-rapid-motor-adaptation"},"modified":"2022-10-13T03:50:19","modified_gmt":"2022-10-13T08:50:19","slug":"in-hand-object-rotation-via-rapid-motor-adaptation","status":"publish","type":"post","link":"https:\/\/lifeboat.com\/blog\/2022\/10\/in-hand-object-rotation-via-rapid-motor-adaptation","title":{"rendered":"In-Hand Object Rotation via Rapid Motor Adaptation"},"content":{"rendered":"<p><a class=\"aligncenter blog-photo\" href=\"https:\/\/lifeboat.com\/blog.images\/in-hand-object-rotation-via-rapid-motor-adaptation.jpg\"><\/a><\/p>\n<p>Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then \u2013 without any fine-tuning \u2013 can be directly deployed to a real robot hand to rotate dozens of objects with diverse sizes, shapes, and weights over the z-axis. This is achieved via rapid online adaptation of the robot\u2019s controller to the object properties using only proprioception history. Furthermore, natural and stable finger gaits automatically emerge from training the control policy via reinforcement learning.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then \u2013 without any fine-tuning [\u2026]<\/p>\n","protected":false},"author":359,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,6],"tags":[],"class_list":["post-148064","post","type-post","status-publish","format-standard","hentry","category-policy","category-robotics-ai"],"_links":{"self":[{"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/posts\/148064","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/users\/359"}],"replies":[{"embeddable":true,"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/comments?post=148064"}],"version-history":[{"count":0,"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/posts\/148064\/revisions"}],"wp:attachment":[{"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/media?parent=148064"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/categories?post=148064"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/lifeboat.com\/blog\/wp-json\/wp\/v2\/tags?post=148064"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}