KAIA 2022

Presented workshop for deformable object manipulation

Workshop: Deformable Object Manipulation Gym toward Reinforcement Learning

Deformable Object Manipulation Workshop @ KAIA 2022 (Ahn et al., 2022). I presented "Deformable Object Manipulation Gym toward Reinforcement Learning."

References

Project

DEFTACTGYM: A Reinforcement Learning Testbed for Deformable Object Manipulation Using Visuotactile Sensory Data

Chanyoung Ahn, Bonggyeong Park, Jaehwi Jang, Minwoo Cho, Jeongho Ha, Daehyung Park

RIRO Lab @ KAIST Dec 2022

Abs PDF Blog

We aim to create a simulated testbed for training and assessing deformable object manipulation skills. This testbed requires tactile data to detect occluded deformation to acquire skills. In this work, we introduce a tactile testbed, DetactGym, with custom-built tactile sensors. We implement tactile sensors as a combination of a rigid trigger and a force-reading part to address the IsaacSim simulator’s inability to read contact forces in deformable. The trigger transmits the contact force to the sensor upon interaction with the target deformable. We highlight the effectiveness of tactile information over visual cues in handling deformable objects while minimizing deformation.