A Multitask and Kernel Approach for Learning to Push Objects with a Target-Parameterized Deep Q-Network
Marco Ewerton,Michael Villamizar,Julius Jankowski,Sylvain Calinon,Jean-Marc Odobez,Marco Ewerton,Michael Villamizar,Julius Jankowski,Sylvain Calinon,Jean-Marc Odobez
Pushing is an essential motor skill involved in several manipulation tasks, and has been an important research topic in robotics. Recent works have shown that Deep Q-Networks (DQNs) can learn pushing policies (when, where to push, and how) to solve manipulation tasks, potentially in synergy with other skills (e.g. grasping). Nevertheless, DQNs often assume a fixed setting and task, which may limit...
