Dual-Critic Deep Reinforcement Learning for Push-Grasping Synergy in Cluttered Environment
Jiakang Zhong,Yew Wee Wong,Jiong Jin,Yong Song,Xianfeng Yuan,Xiaoqi Chen,Jiakang Zhong,Yew Wee Wong,Jiong Jin,Yong Song,Xianfeng Yuan,Xiaoqi Chen
Robotic push-grasping in densely cluttered environments presents significant challenges due to unbalanced synergy and redundancy between both actions, leading to decreased grasp efficiency. In this paper, a novel double-critic deep reinforcement learning framework is introduced to optimize the push-grasping synergy for robotic manipulation in such environments, aiming to significantly reduce pre-g...
