OpenAI's Rubik's Cube robot — key techniques.
hardAnswer
- OpenAI 2019.
- (1) PPO in simulation with Automatic Domain Randomization (ADR): progressively harder randomization of physics parameters.
- (2) LSTM policy inferring physical parameters online.
- (3) Kociemba's algorithm for cube solution planning; RL for physical manipulation.
- (4) Sim-to-real via ADR made a single-hand manipulation robust to real-world variation.
- Demonstrated sim2real at scale for high-dimensional dexterous manipulation.
Check yourself — multiple choice
- Random
- PPO in sim + Automatic Domain Randomization (progressively harder physics rand) + LSTM inferring physics online; sim2real for dexterous manipulation of Rubik's cube by one hand
- Same as PPO
- Not real
OpenAI Rubik: PPO + ADR + LSTM sim2real for dexterous manipulation.
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