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Lee","Coline Devin","Yuxiang Zhou","Thomas Lampe","Konstantinos Bousmalis","Jost Tobias Springenberg","Arunkumar Byravan","Abbas Abdolmaleki","Nimrod Gileadi","David Khosid","Claudio Fantacci","Jose Enrique Chen","Akhil Raju","Rae Jeong","Michael Neunert","Antoine Laurens","Stefano Saliceti","Federico Casarini","Martin Riedmiller","Raia Hadsell","Francesco Nori"],"abstract":"We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple \"pick-and-place\" solution. Our method is a reinforcement learning (RL) approach combined with vision-based interactive policy distillation and simulation-to-reality transfer. Our learned policies can efficiently handle multiple object combinations in the real world and exhibit a large variety of stacking skills. 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