Fixture-Aware DDQN for Generalized Environment-Enabled Grasping
Eddie Sasagawa,Changhyun Choi,Eddie Sasagawa,Changhyun Choi
This paper expands on the problem of grasping an object that can only be grasped by a single parallel gripper when a fixture (e.g., wall, heavy object) is harnessed. Preceding work that tackle this problem are limited in that the employed networks implicitly learn specific targets and fixtures to leverage. However, the notion of a usable fixture can vary in different environments, at times without...
