Enabling robots to learn novel tasks in a data-efficient manner is a long-standing challenge. Common strategies involve carefully leveraging prior experiences, especially transition data collected on related tasks. Although much progress has been made for general pick-and-place manipulation, far fewer studies have investigated contact-rich assembly tasks, where precise control is essential. We introduce SRSA} (Skill Retrieval and Skill Adaptation), a novel framework designed to address this problem by utilizing a pre-existing skill library containing policies for diverse assembly tasks. The challenge lies in identifying which skill from the library is most relevant for fine-tuning on a new task. Our key hypothesis is that skills showing higher zero-shot success rates on a new task are better suited for rapid and effective fine-tuning on that task. To this end, we propose to predict the transfer success for all skills in the skill library on a novel task, and then use this prediction to guide the skill retrieval process. We establish a framework that jointly captures features of object geometry, physical dynamics, and expert actions to represent the tasks, allowing us to efficiently learn the transfer success predictor. Extensive experiments demonstrate that SRSA significantly outperforms the leading baseline. When retrieving and fine-tuning skills on unseen tasks, SRSA achieves a 19% relative improvement in success rate, exhibits 2.6x lower standard deviation across random seeds, and requires 2.4x fewer transition samples to reach a satisfactory success rate, compared to the baseline. In a continual learning setup, SRSA efficiently learns policies for new tasks and incorporates them into the skill library, enhancing future policy learning. Furthermore, policies trained with SRSA in simulation achieve a 90% mean success rate when deployed in the real world. Please visit our project webpage https://srsa2024.github.io/.

Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to recent success in solving assembly tasks in the presence of object pose variation, perception noise, and control error; however, the development of a generalist (i.e., multi-task) agent for a broad range of assembly tasks has been limited by the need to manually curate assembly assets, which greatly constrains the number and diversity of assembly problems that can be used for policy learning. Inspired by recent success of using generative AI to scale up robot learning, we propose Match-Maker, a pipeline to automatically generate diverse, simulation-compatible assembly asset pairs to facilitate learning assembly skills. Specifically, MatchMaker can 1) take a simulation-incompatible, interpenetrating asset pair as input, and automatically convert it into a simulation-compatible, interpenetration-free pair, 2) take an arbitrary single asset as input, and generate a geometrically-mating asset to create an asset pair, 3) automatically erode contact surfaces from (1) or (2) according to a user-specified clearance parameter to generate realistic parts. We demonstrate that data generated by MatchMaker outperforms previous work in terms of diversity and effectiveness for downstream assembly skill learning. Project page: https://wangyian-me.github.io/MatchMaker/.

In this paper, we report our discovery on named entity distribution in a general word embedding space, which helps an open definition on multilingual named entity definition rather than previous closed and constraint definition on named entities through a named entity dictionary, which is usually derived from human labor and replies on schedule update. Our initial visualization of monolingual word embeddings indicates named entities tend to gather together despite of named entity types and language difference, which enable us to model all named entities using a specific geometric structure inside embedding space, namely, the named entity hypersphere. For monolingual cases, the proposed named entity model gives an open description of diverse named entity types and different languages. For cross-lingual cases, mapping the proposed named entity model provides a novel way to build a named entity dataset for resource-poor languages. At last, the proposed named entity model may be shown as a handy clue to enhance state-of-the-art named entity recognition systems generally.

Robots must reason about pushing and grasping in order to engage in flexible manipulation in cluttered environments. Earlier works on learning pushing and grasping only consider each operation in isolation or are limited to top-down grasping and bin-picking. We train a robot to learn joint planar pushing and 6-degree-of-freedom (6-DoF) grasping policies by self-supervision. Two separate deep neural networks are trained to map from 3D visual observations to actions with a Q-learning framework. With collaborative pushes and expanded grasping action space, our system can deal with cluttered scenes with a wide variety of objects (e.g. grasping a plate from the side after pushing away surrounding obstacles). We compare our system to the state-of-the-art baseline model VPG [1] in simulation and outperform it with 10% higher action efficiency and 20% higher grasp success rate. We then demonstrate our system on a KUKA LBR iiwa arm with a Robotiq 3-finger gripper.