AsymDex：用于基于强化学习的双手灵巧操作的对称性破缺与相对坐标
AsymDex: Asymmetry and Relative Coordinates for RL-based Bimanual Dexterity
AI总结：
提出AsymDex强化学习框架，通过分配双手互补角色与引入相对坐标空间，高效学习多指手非对称双手技能，在七个虚实任务上显著优于基线。
摘要：
我们提出了Asymmetric Dexterity（AsymDex），这是一个新颖且简单的强化学习（RL）框架，能够在不依赖演示的情况下，高效地学习多指手的一大类双手技能。两个关键见解使AsymDex能够降低观测和动作空间维度并提高样本效率。首先，人类中真正的左右手同利很少见，我们大多数人表现出强烈的“偏手性”。受此观察启发，我们为每只手分配互补的角色：辅助手负责重新定位和调整一个物体的姿态，而主导手执行复杂的操作以实现期望的结果（例如，打开瓶盖或倒液体）。其次，控制双手之间的相对运动对于双手的协调和同步至关重要。因此，我们设计了相对观测和动作空间，并利用相对位姿跟踪控制器。此外，我们提出了一种两阶段分解，使AsymDex能够轻松地与抓取学习的最新进展相结合，以促进使用双手获取和操作物体。与现有的基于RL的多指手双手灵巧操作方法（要么样本效率低，要么针对特定任务定制）不同，AsymDex能够高效地学习表现出不对称性的各种双手技能。在七个非对称双手灵巧操作任务（四个模拟任务和三个真实世界任务）上的详细实验表明，AsymDex始终优于挑战我们设计选择的强基线。项目网站位于https://sites.google.com/view/asymdex-2025/。
英文摘要：
We present Asymmetric Dexterity (AsymDex), a novel and simple reinforcement learning (RL) framework that can efficiently learn a large class of bimanual skills in multi-fingered hands without relying on demonstrations. Two crucial insights enable AsymDex to reduce the observation and action space dimensions and improve sample efficiency. First, true ambidexterity is rare in humans and most of us exhibit strong "handedness". Inspired by this observation, we assign complementary roles to each hand: the facilitating hand repositions and reorients one object, while the dominant hand performs complex manipulations to achieve the desired result (e.g., opening a bottle cap, or pouring liquids). Second, controlling the relative motion between the hands is crucial for coordination and synchronization of the two hands. As such, we design relative observation and action spaces and leverage a relative-pose tracking controller. Further, we propose a two-phase decomposition in which AsymDex can be readily integrated with recent advances in grasp learning to facilitate both the acquisition and manipulation of objects using two hands. Unlike existing RL-based methods for bimanual dexterity with multi-fingered hands, which are either sample inefficient or tailored to a specific task, AsymDex can efficiently learn a wide variety of bimanual skills that exhibit asymmetry. Detailed experiments on seven asymmetric bimanual dexterous manipulation tasks (four simulated and three real-world) reveal that AsymDex consistently outperforms strong baselines that challenge our design choices. The project website is at https://sites.google.com/view/asymdex-2025/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
