AlphaNIST: Emergent Assembly Skills from Binary Task Rewards
[Sztuczna inteligencja] Autorzy: Octi Zhang, Iretiayo Akinola, Rosario Scalise i 12 więcej
The NIST Assembly Task Board #1 remains a challenging benchmark for learning-based methods in robotic manipulation. Over short horizons, it demands precise, contact-rich control of small, tight-fitting parts. Over long horizons, it requires recovery and coordination across extended action sequences. Demonstrations, task decomposition, and dense progress rewards have enabled research advances by providing guidance on how to assemble. But how much of the strategy must be specified? The progression from AlphaGo to AlphaGo Zero showed that RL at scale can discover superhuman strategies without prescribing how to win. AlphaNIST asks whether a sparse binary task reward and task diversity admitted by this task-agnostic reward can similarly let a robot discover how to assemble. In simulation, we train a single policy from scratch across all 20 assembly tasks on the NIST Assembly Task Board #1, …
- Kategoria arxiv
- cs.AI
- Kategoria
- Sztuczna inteligencja