D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866911803602108416 |
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| author | Yamada, Jun Zhong, Shaohong Collins, Jack Posner, Ingmar |
| author_facet | Yamada, Jun Zhong, Shaohong Collins, Jack Posner, Ingmar |
| contents | Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the large search space and the limited task information available from a cost function. In this work, we propose D-Cubed, a novel trajectory optimisation method using a latent diffusion model (LDM) trained from a task-agnostic play dataset to solve dexterous deformable object manipulation tasks. D-Cubed learns a skill-latent space that encodes short-horizon actions in the play dataset using a VAE and trains a LDM to compose the skill latents into a skill trajectory, representing a long-horizon action trajectory in the dataset. To optimise a trajectory for a target task, we introduce a novel gradient-free guided sampling method that employs the Cross-Entropy method within the reverse diffusion process. In particular, D-Cubed samples a small number of noisy skill trajectories using the LDM for exploration and evaluates the trajectories in simulation. Then, D-Cubed selects the trajectory with the lowest cost for the subsequent reverse process. This effectively explores promising solution areas and optimises the sampled trajectories towards a target task throughout the reverse diffusion process. Through empirical evaluation on a public benchmark of dexterous deformable object manipulation tasks, we demonstrate that D-Cubed outperforms traditional trajectory optimisation and competitive baseline approaches by a significant margin. We further demonstrate that trajectories found by D-Cubed readily transfer to a real-world LEAP hand on a folding task. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_12861 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Yamada, Jun Zhong, Shaohong Collins, Jack Posner, Ingmar Robotics Machine Learning Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the large search space and the limited task information available from a cost function. In this work, we propose D-Cubed, a novel trajectory optimisation method using a latent diffusion model (LDM) trained from a task-agnostic play dataset to solve dexterous deformable object manipulation tasks. D-Cubed learns a skill-latent space that encodes short-horizon actions in the play dataset using a VAE and trains a LDM to compose the skill latents into a skill trajectory, representing a long-horizon action trajectory in the dataset. To optimise a trajectory for a target task, we introduce a novel gradient-free guided sampling method that employs the Cross-Entropy method within the reverse diffusion process. In particular, D-Cubed samples a small number of noisy skill trajectories using the LDM for exploration and evaluates the trajectories in simulation. Then, D-Cubed selects the trajectory with the lowest cost for the subsequent reverse process. This effectively explores promising solution areas and optimises the sampled trajectories towards a target task throughout the reverse diffusion process. Through empirical evaluation on a public benchmark of dexterous deformable object manipulation tasks, we demonstrate that D-Cubed outperforms traditional trajectory optimisation and competitive baseline approaches by a significant margin. We further demonstrate that trajectories found by D-Cubed readily transfer to a real-world LEAP hand on a folding task. |
| title | D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation |
| topic | Robotics Machine Learning |
| url | https://arxiv.org/abs/2403.12861 |