Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning
K. Niranjan Kumar,Irfan Essa,Sehoon Ha,K. Niranjan Kumar,Irfan Essa,Sehoon Ha
We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning framework to train an effective scene exploration policy to discover hidden objects with minimal interactions. First, we define a novel scene grammar to represen...
