Related papers: Learning to Play Piano in the Real World
The virtuoso plays the piano with passion, poetry and extraordinary technical ability. As Liszt said (a virtuoso)must call up scent and blossom, and breathe the breath of life. The strongest robots that can play a piano are based on a…
It has been a long-standing research goal to endow robot hands with human-level dexterity. Bi-manual robot piano playing constitutes a task that combines challenges from dynamic tasks, such as generating fast while precise motions, with…
Endowing robot hands with human-level dexterity has been a long-standing goal in robotics. Bimanual robotic piano playing represents a particularly challenging task: it is high-dimensional, contact-rich, and requires fast, precise control.…
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary bottleneck for high-precision tasks.…
Replicating human-like dexterity in robot hands represents one of the largest open problems in robotics. Reinforcement learning is a promising approach that has achieved impressive progress in the last few years; however, the class of…
In this work, we introduce PianoMime, a framework for training a piano-playing agent using internet demonstrations. The internet is a promising source of large-scale demonstrations for training our robot agents. In particular, for the case…
Recent advances in machine learning have paved the way for the development of musical and entertainment robots. However, human-robot cooperative instrument playing remains a challenge, particularly due to the intricate motor coordination…
For around 300 years, humans have been learning to play the modern piano either with a teacher or on their own. In recent years teaching and learning have been enhanced using augmented technologies that support novices. Other technologies…
Piano playing requires agile, precise, and coordinated hand control that stretches the limits of dexterity. Hand motion models with the sophistication to accurately recreate piano playing have a wide range of applications in character…
Humans have been developing and playing musical instruments for millennia. With technological advancements, instruments were becoming ever more sophisticated. In recent decades computer-supported innovations have also been introduced in…
Piano fingering -- knowing which finger to use to play each note in a musical piece, is a hard and important skill to master when learning to play the piano. While some sheet music is available with expert-annotated fingering information,…
In this paper, a non-iterative spatio-temporal multi-task assignment approach is used for playing piano music by a team of robots. This paper considers the piano playing problem, in which an algorithm needs to compute the trajectories for a…
Acquiring multiple skills has commonly involved collecting a large number of expert demonstrations per task or engineering custom reward functions. Recently it has been shown that it is possible to acquire a diverse set of skills by…
Hand and finger movements are a mainstay of piano technique. Automatic Fingering from symbolic music data allows us to simulate finger and hand movements. Previous proposals achieve automatic piano fingering based on knowledge-driven or…
A typical part of learning to play the piano is the progression through a series of practice units that focus on individual dimensions of the skill, such as hand coordination, correct posture, or correct timing. Ideally, a focus on a…
Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low cost. However, prior works in sim-to-real…
A typical process of learning to play a piece on a piano consists of a progression through a series of practice units that focus on individual dimensions of the skill, the so-called practice modes. Practice modes in learning to play music…
The game of table tennis is renowned for its extremely high spin rate, but most table tennis robots today struggle to handle balls with such rapid spin. To address this issue, we have contributed a series of methods, including: 1.…
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three challenges in isolation, yet do not combine these skills…
Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges,…