Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter
Baichuan Huang,Teng Guo,Abdeslam Boularias,Jingjin Yu,Baichuan Huang,Teng Guo,Abdeslam Boularias,Jingjin Yu
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate interactions between a robot arm and a complex scene containing many objects, allowing the DNN to partially clone the behavior of MCTS. In turn, the trained DNN is inte...
