Speeding up 6-DoF Grasp Sampling with Quality-Diversity
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866929270890168320 |
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| author | Huber, Johann Hélénon, François Kappel, Mathilde Chelly, Elie Khoramshahi, Mahdi Amar, Faïz Ben Doncieux, Stéphane |
| author_facet | Huber, Johann Hélénon, François Kappel, Mathilde Chelly, Elie Khoramshahi, Mahdi Amar, Faïz Ben Doncieux, Stéphane |
| contents | Recent advances in AI have led to significant results in robotic learning, including natural language-conditioned planning and efficient optimization of controllers using generative models. However, the interaction data remains the bottleneck for generalization. Getting data for grasping is a critical challenge, as this skill is required to complete many manipulation tasks. Quality-Diversity (QD) algorithms optimize a set of solutions to get diverse, high-performing solutions to a given problem. This paper investigates how QD can be combined with priors to speed up the generation of diverse grasps poses in simulation compared to standard 6-DoF grasp sampling schemes. Experiments conducted on 4 grippers with 2-to-5 fingers on standard objects show that QD outperforms commonly used methods by a large margin. Further experiments show that QD optimization automatically finds some efficient priors that are usually hard coded. The deployment of generated grasps on a 2-finger gripper and an Allegro hand shows that the diversity produced maintains sim-to-real transferability. We believe these results to be a significant step toward the generation of large datasets that can lead to robust and generalizing robotic grasping policies. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2403_06173 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Speeding up 6-DoF Grasp Sampling with Quality-Diversity Huber, Johann Hélénon, François Kappel, Mathilde Chelly, Elie Khoramshahi, Mahdi Amar, Faïz Ben Doncieux, Stéphane Robotics Machine Learning Recent advances in AI have led to significant results in robotic learning, including natural language-conditioned planning and efficient optimization of controllers using generative models. However, the interaction data remains the bottleneck for generalization. Getting data for grasping is a critical challenge, as this skill is required to complete many manipulation tasks. Quality-Diversity (QD) algorithms optimize a set of solutions to get diverse, high-performing solutions to a given problem. This paper investigates how QD can be combined with priors to speed up the generation of diverse grasps poses in simulation compared to standard 6-DoF grasp sampling schemes. Experiments conducted on 4 grippers with 2-to-5 fingers on standard objects show that QD outperforms commonly used methods by a large margin. Further experiments show that QD optimization automatically finds some efficient priors that are usually hard coded. The deployment of generated grasps on a 2-finger gripper and an Allegro hand shows that the diversity produced maintains sim-to-real transferability. We believe these results to be a significant step toward the generation of large datasets that can lead to robust and generalizing robotic grasping policies. |
| title | Speeding up 6-DoF Grasp Sampling with Quality-Diversity |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2403.06173 |