arXiv:2611.11941 · v1

Flip Anything with Agentic Robotics Self-Learning

首次提交 2026-11-09 14:09

版本更新 2026-11-09 14:09

雷达观测 2026-11-10 13:18

摘要

Flipping is a fundamental robotic manipulation skill that requires reorienting a target object in a stable pose on a planar support surface by rotating it 180$^\circ$ about an axis parallel to the support surface -- think of flipping a coin from heads to tails. Although flipping is a common objective in industrial tasks such as parts inspection, mechanical assembly, and tool use, coding a bimanual robot with grippers to flip diverse objects is a significant challenge. In this paper, we show that a coding agent can autonomously develop and refine object-flipping strategies through iterative learning in physics simulations across diverse object geometries. Progressive skill acquisition, from basic handover to toppling and pushing, robust grasping and sensing, and thin-object manipulation with recovery, improves task success from 24.7% to 95.0%. The resulting graph-based code integrates high-level strategy selection with reactive control, enabling multi-stage flipping on physical robots.

作者备注：CoRL 2026 late breaking. Project webpage https://berkeleyautomation.github.io/flipanything/