System and method for controlling a robotic manipulator

A method for controlling a robotic manipulator to manipulate an object according to a task, the method comprising:

• collecting data relating to a state and an object property of the object;
• producing, using a state adapter model, a state correction for the state of the object to generate a corrected state of the object based on a difference between the object property and a predetermined unitary property of a unitary object;
• producing, using a control policy, an action for the unitary object using the corrected state of the object, wherein the action is for a robotic manipulator to manipulate the unitary object, such that the control policy is configured to map a state of the unitary object to the action of the robotic manipulator to manipulate the unitary object according to the task;
• producing, using an action adapter model, an action correction to the action for the unitary object to generate a corrected action, based on the action for the unitary object produced by the control policy and the difference between the unitary property and the object property;
• and
• controlling the robotic manipulator with the corrected action for the unitary object.

A non-transitory computer readable storage medium embodied thereon a program executable by a processor for performing a method, the method comprising:

• collecting data relating to a state and an object property of an object;
• producing, using a state adapter model, a state correction for the state of the object to generate a corrected state of the object, based on a difference between the object property and a predetermined unitary property of a unitary object;
• producing, using a control policy, an action for the unitary object using the corrected state of the object, wherein the action is for a robotic manipulator to manipulate the unitary object, such that the control policy is configured to map a state of the unitary object to the action of the robotic manipulator to manipulate the unitary object according to the task;
• producing, using an action adapter model, an action correction to the action for the unitary object to generate a corrected action based on the action for the unitary object produced by the control policy and the difference between the unitary property and the object property;
• and
• controlling the robotic manipulator with the corrected action for the unitary object.