Solving a Simple Geduldspiele Cube with a Robotic Gripper via Sim-to-Real Transfer

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Geduldspiele cubes (also known as patience cubes in English) are interesting problems to solve with robotic systems on the basis of machine learning approaches. Generally, highly dexterous hand and finger movement is required to solve them. In this paper, we propose a reinforcement-learning-based approach to solve simple geduldspiele cubes of a flat plane, a convex plane, and a concave plane. The key idea of the proposed approach is that we adopt a sim-to-real framework in which a robotic agent is virtually trained in simulation environment based on reinforcement learning, then the virtually trained robotic agent is deployed into a physical robotic system and evaluated for tasks in the real world. We developed a test bed which consists of a dual-arm robot with a patience cube in a gripper and the virtual avatar system to be trained in the simulation world. The experimental results showed that the virtually trained robotic agent was able to solve simple patience cubes in the real world as well. Based on the results, we could expect to solve the more complex patience cubes by augmenting the proposed approach with versatile reinforcement learning algorithms.