Comment on Solving the Rubik’s cube with a robot handComments−sytelus6yMany caviates but impressive progress in manipulation, especially sim2real:- Only 20% attempts successful on hardest configs with 26+ moves- Solving steps are not generated by RL (but could be[1])- Cube is modified internally to transmit additional state via bluetooth- Highly calibrated and fine tuned environment+MuJoCo based sim to match simulation to reality as much as possible- Open AI Five algorithm is pretty much reused as-is- Cumulative training time = 13 thousand years, same order of magnitude as the 40 thousand years- 32+64 V100 GPUs per training cycle[1] https://arxiv.org/abs/1805.07470
Comments
Many caviates but impressive progress in manipulation, especially sim2real:
- Only 20% attempts successful on hardest configs with 26+ moves
- Solving steps are not generated by RL (but could be[1])
- Cube is modified internally to transmit additional state via bluetooth
- Highly calibrated and fine tuned environment+MuJoCo based sim to match simulation to reality as much as possible
- Open AI Five algorithm is pretty much reused as-is
- Cumulative training time = 13 thousand years, same order of magnitude as the 40 thousand years
- 32+64 V100 GPUs per training cycle
[1] https://arxiv.org/abs/1805.07470