Learning Extrinsic Dexterity with Parameterized Manipulation Primitives
Shih-Min Yang,Martin Magnusson,Johannes A. Stork,Todor Stoyanov,Shih-Min Yang,Martin Magnusson,Johannes A. Stork,Todor Stoyanov
Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first manipulate the object into a configuration that affords a grasp. We solve this problem by learning a sequence of actions that utilize the environment to change the obje...
