Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes

Abstract

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 general vision-based agents in simulation, and what affects optimal transfer to the real robot. We then leverage data collected by such policies and improve upon them with offline RL. A video and a blog post of our work are provided as supplementary material.