Examples of tasks learned
solely
with SOLE-R1 rewards through online RL (starting from random policies)
Task:
Pick up the cube from the table.
Open the door.
Open the drawer.
Insert the pipe into the opening.
Push the can near the blue cube.
Touch the strawberry.
Close the drawer.
Pick the can from the table.
Pick up the cube from the table. (Franka)
Pull the cube into the target area.
Push the cube into the target area.
Pull the drawer open.
Pick up the cube from the table. (WidowXAI)
Pick up the cube from the table. (SO-100)
Pick up the object from the table.
Close the top drawer.
Open the microwave door.
Close the microwave door.
Rotate the knob to turn the stove on.
Push the puck into the net.
Close the door.
Close the drawer.
Push the red handle to the right.
Slide the window closed.
Press the red handle down.
Push the red handle to the left.
Slide the window open.
Push the soccer ball into the net.
Playback speed:
0.25×
0.5×
0.75×
1×
1.25×
1.5×
1.75×
2×