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Rapid Motor Adaptation for Robotic Manipulator Arms
April 1, 2024, 4:43 a.m. | Yichao Liang, Kevin Ellis, Jo\~ao Henriques
cs.LG updates on arXiv.org arxiv.org
Abstract: Developing generalizable manipulation skills is a core challenge in embodied AI. This includes generalization across diverse task configurations, encompassing variations in object shape, density, friction coefficient, and external disturbances such as forces applied to the robot. Rapid Motor Adaptation (RMA) offers a promising solution to this challenge. It posits that essential hidden variables influencing an agent's task performance, such as object mass and shape, can be effectively inferred from the agent's action and proprioceptive history. …
abstract arxiv challenge core cs.ai cs.cv cs.lg cs.ro diverse embodied embodied ai manipulation object robot robotic skills solution type
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