Bilge Mutlu University of Wisconsin-Madison

Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learning

This paper presents Grasp2Twist, a bimanual dexterous manipulation system that learns to grasp and twist open jar lids using reinforcement learning. Learning this task raises three challenges: learning a unified policy for a multi-stage task, sustaining lid twisting, and sim-to-real transfer. To address the first chall...