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OpenAI - Solving Rubik's Cube with a Robot Hand - RL Paper Explained
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- 1 Intro
- 2 Comparison with Dactyl system
- 3 High-level overview
- 4 Tasks Rubik's cube and block reorientation
- 5 Physical system overview
- 6 Reading angles from the cube electronics
- 7 Realistic modeling of the system in simulation
- 8 Automatic Domain Randomization ADR
- 9 Cube size randomization during training blog
- 10 Entropy and rand param probability distribution
- 11 ADR pseudocode
- 12 Rapid
- 13 Randomizations
- 14 PPO
- 15 Actions and rewards
- 16 Policy network, embed and add
- 17 Behavioural cloning
- 18 Vision pipeline
- 19 Focal loss
- 20 Results
- 21 Perturbation robustness
- 22 Meta-learning
- 23 Predicting environment variables from LSTM hidden state
