Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
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We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This framework exploits in-hand and extrinsic dexterity by actively exploring contacts. It generates rigid-body motions and complex contact sequences. Our framework is based on Monte-Carlo Tree Search (MCTS) and has three levels: 1) planning object motions and environment contact modes; 2) planning robot contacts; 3) path evaluation and control optimization that passes the rewards to the upper levels. This framework offers two main advantages. First, it allows efficient global reasoning over high-dimensional complex space created by contacts. It solves a diverse set of manipulation tasks that require dexterity, both intrinsic (using the fingers) and extrinsic (also using the environment), mostly in seconds. Second, our framework allows the incorporation of expert knowledge and customizable setups in task mechanics and models. It requires minor modifications to accommodate different scenarios and robots. Hence, it could provide a flexible and generalizable solution for various manipulation tasks. As examples, we analyze the results on 7 hand configurations and 15 scenarios. We demonstrate 8 of them on two robot platforms.
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