MyoDex：灵巧操作的通用先验

MyoDex: A Generalizable Prior for Dexterous Manipulation

September 6, 2023

作者: Vittorio Caggiano, Sudeep Dasari, Vikash Kumar

cs.AI

摘要

人类灵巧性是运动控制的一个标志。尽管肌肉骨骼感觉-运动回路的复杂性（多关节和多关节，有23个关节由40多块肌肉控制），我们的手能够快速合成新的行为。在这项工作中，我们受到人类灵巧性如何基于多样的先前经验而非通过单一任务获得的启发。受到这一观察的启发，我们着手开发能够建立在先前经验基础上迅速获得新行为（以前无法实现的）的代理。具体而言，我们的方法利用多任务学习隐式捕捉任务无关的行为先验（MyoDex），以人类手部模型MyoHand为基础实现类似人类灵巧性。我们展示了MyoDex在少样本泛化以及对大量未见灵巧操纵任务的积极迁移中的有效性。利用MyoDex的代理可以解决大约3倍更多的任务，并且比蒸馏基线快4倍。尽管先前的工作合成了单一的肌肉骨骼控制行为，但MyoDex是第一个通用的操纵先验，促进了对大量接触丰富行为的灵巧生理控制的学习。我们还展示了我们的范式在肌肉骨骼控制之外对Adroit Hand的24个自由度的灵巧性获取的有效性。网站：https://sites.google.com/view/myodex

English

Human dexterity is a hallmark of motor control. Our hands can rapidly synthesize new behaviors despite the complexity (multi-articular and multi-joints, with 23 joints controlled by more than 40 muscles) of musculoskeletal sensory-motor circuits. In this work, we take inspiration from how human dexterity builds on a diversity of prior experiences, instead of being acquired through a single task. Motivated by this observation, we set out to develop agents that can build upon their previous experience to quickly acquire new (previously unattainable) behaviors. Specifically, our approach leverages multi-task learning to implicitly capture task-agnostic behavioral priors (MyoDex) for human-like dexterity, using a physiologically realistic human hand model - MyoHand. We demonstrate MyoDex's effectiveness in few-shot generalization as well as positive transfer to a large repertoire of unseen dexterous manipulation tasks. Agents leveraging MyoDex can solve approximately 3x more tasks, and 4x faster in comparison to a distillation baseline. While prior work has synthesized single musculoskeletal control behaviors, MyoDex is the first generalizable manipulation prior that catalyzes the learning of dexterous physiological control across a large variety of contact-rich behaviors. We also demonstrate the effectiveness of our paradigms beyond musculoskeletal control towards the acquisition of dexterity in 24 DoF Adroit Hand. Website: https://sites.google.com/view/myodex