DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands

Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throw-catching behavior has the potential to increase picking speed without transporting objects to their destination. However, dynamic dexterous manipulation poses a major challenge for stable control due to a large number of dynamic contacts. In this paper, we propose a Stability-Constrained Reinforcement Learning (SCRL) algorithm to learn to catch diverse objects with dexterous hands. The SCRL algorithm outperforms baselines by a large margin, and the learned policies show strong zero-shot transfer performance on unseen objects. Remarkably, even though the object in a hand facing sideward is extremely unstable due to the lack of support from the palm, our method can still achieve a high level of success in the most challenging task. Video demonstrations of learned behaviors and the code can be found on the supplementary website.

Exploring Inductive Biases in Contrastive Learning: A Clustering Perspective

This paper investigates the differences in data organization between contrastive and supervised learning methods, focusing on the concept of locally dense clusters. We introduce a novel metric, Relative Local Density (RLD), to quantitatively measure local density within clusters. Visual examples are provided to highlight the distinctions between locally dense clusters and globally dense ones. By comparing the clusters formed by contrastive and supervised learning, we reveal that contrastive learning generates locally dense clusters without global density, while supervised learning creates clusters with both local and global density. We further explore the use of a Graph Convolutional Network (GCN) classifier as an alternative to linear classifiers for handling locally dense clusters. Finally, we utilize t-SNE visualizations to substantiate the differences between the features generated by contrastive and supervised learning methods. We conclude by proposing future research directions, including the development of efficient classifiers tailored to contrastive learning and the creation of innovative augmentation algorithms.

Graph Modularity: Towards Understanding the Cross-Layer Transition of Feature Representations in Deep Neural Networks

There are good arguments to support the claim that feature representations eventually transition from general to specific in deep neural networks (DNNs), but this transition remains relatively underexplored. In this work, we move a tiny step towards understanding the transition of feature representations. We first characterize this transition by analyzing the class separation in intermediate layers, and next model the process of class separation as community evolution in dynamic graphs. Then, we introduce modularity, a common metric in graph theory, to quantify the evolution of communities. We find that modularity tends to rise as the layer goes deeper, but descends or reaches a plateau at particular layers. Through an asymptotic analysis, we show that modularity can provide quantitative analysis of the transition of the feature representations. With the insight on feature representations, we demonstrate that modularity can also be used to identify and locate redundant layers in DNNs, which provides theoretical guidance for layer pruning. Based on this inspiring finding, we propose a layer-wise pruning method based on modularity. Further experiments show that our method can prune redundant layers with minimal impact on performance. The codes are available at https://github.com/yaolu-zjut/Dynamic-Graphs-Construction.