{"paper":{"title":"Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Abbas Abdolmaleki, Akhil Raju, Alex X. Lee, Antoine Laurens, Arunkumar Byravan, Claudio Fantacci, Coline Devin, David Khosid, Federico Casarini, Francesco Nori, Jose Enrique Chen, Jost Tobias Springenberg, Konstantinos Bousmalis, Martin Riedmiller, Michael Neunert, Nimrod Gileadi, Rae Jeong, Raia Hadsell, Stefano Saliceti, Thomas Lampe, Yuxiang Zhou","submitted_at":"2021-10-12T17:46:06Z","abstract_excerpt":"We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple \"pick-and-place\" solution. Our method is a reinforcement learning (RL) approach combined with vision-based interactive policy distillation and simulation-to-reality transfer. Our learned policies can efficiently handle multiple object combinations in the real world and exhibit a large variety of stacking skills. In a large experimental study, we investigate what choices matter for learning such gene"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.06192","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.06192/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}