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Multi-Phase Multi-Objective Dexterous Manipulation with Adaptive Hierarchical Curriculum

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Abstract

Dexterous manipulation tasks usually have multiple objectives. The priorities of these objectives may vary at different phases of a manipulation task. Current methods do not consider the objective priority and its change during the task, making a robot have a hard time or even fail to learn a good policy. In this work, we develop a novel Adaptive Hierarchical Curriculum to guide the robot to learn manipulation tasks with multiple prioritized objectives. Our method determines the objective priorities during the learning process and updates the learning sequence of the objectives to adapt to the changing priorities at different phases. A smooth transition function is developed to mitigate the effects on the learning stability when updating the learning sequence. The proposed method is validated in a multi-objective manipulation task with a JACO robot arm in which the robot needs to manipulate a target with obstacles surrounded. The simulation and physical experiment results show that the proposed method outperforms the baseline methods with a 92.5% success rate in 40 tests and on average takes 36.4% less time to finish the task.

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Funding

This material is based on work supported by the US NSF under grant 1652454 and 2114464. Any opinions, findings, conclusions, or recommendations expressed in this material are those of the authors and do not necessarily reflect those of the National Science Foundation.

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Authors

Contributions

All authors contributed to the study conception and design. The first manuscript was written by Lingfeng Tao. Dr. Jiucai Zhang and Dr. Xiaoli Zhang provided comments and edits towards the creation of the final manuscript.

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Correspondence to Xiaoli Zhang.

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Ethical approval was waived by the local Ethics Committee of Colorado School of Mines in view of the retrospective nature of the study and all the procedures being performed were part of the routine care.

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The participants have consented to the submission of the case report to the journal.

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Appendix:

Appendix:

Table 3 shows the performance statistics of the trained policies across the three phases over 40 evaluations, including the number of times that the robot touched obstacles, average time consumption in each phase, and the average normalized reward in each phase. LS is not included because it has no phases during the training.

Table 3 Performance Statistics across Phases over 40 Evaluations

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Tao, L., Zhang, J. & Zhang, X. Multi-Phase Multi-Objective Dexterous Manipulation with Adaptive Hierarchical Curriculum. J Intell Robot Syst 106, 1 (2022). https://doi.org/10.1007/s10846-022-01680-7

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