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How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich,...
arXiv cs.LG··Paper: ~15 min
2-Minute Brief
According to arXiv cs.AI: Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their "implicit" success criteria: unlike pick-and-place, task quality in these domains is continuous and subjective (e.g. how well a potato is peeled), making quantitative evaluation and reward engineering difficult. We present a learning framework for such tasks, using p
How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
TLDR
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich,...
According to arXiv cs.AI: Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their "implicit" success criteria: unlike pick-and-place, task quality in these domains is continuous and subjective (e.g. how well a potato is peeled), making quantitative evaluation and reward engineering difficult. We present a learning framework for such tasks, using p