Josiah P. Hanna

Learning to Act While Thinking

Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learning

This paper presents Grasp2Twist, a bimanual dexterous manipulation system that learns to grasp and twist open jar lids using reinforcement learning. Learning this task raises three challenges: learning a unified policy for a multi-stage task, sustaining lid twisting, and sim-to-real transfer. To address the first chall...

A Simple Baseline for Learning Approximate State Abstractions in Factored State Spaces

This work introduces a surprisingly simple neural network architecture change: a learnable, state-independent attention mask applied to the inputs of the policy and value networks and trained end-to-end using only the RL objective.