To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that recognizes object motion using pixel-level visual information extracted from a single RGB image. Such visual cues capture changes in the object's position and scale, allowing the policy to reason about the object's motion. Furthermore, to achieve stable learning in a high-DoF system composed of a robot arm equipped with a multi-fingered hand, we design a heterogeneous multi-agent reinforcement learning framework that defines the arm and hand as independent agents with distinct roles. Each agent is trained cooperatively using role-specific observations and rewards, and the learned policies are successfully transferred from simulation to the real world.
@article{arxiv.2602.22733,
title = {Pixel2Catch: Multi-Agent Sim-to-Real Transfer for Agile Manipulation with a Single RGB Camera},
author = {Seongyong Kim and Junhyeon Cho and Kang-Won Lee and Soo-Chul Lim},
journal= {arXiv preprint arXiv:2602.22733},
year = {2026}
}