Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes

Nils Dengler,David Großklaus,Maren Bennewitz,Nils Dengler,David Großklaus,Maren Bennewitz

Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach this problem by applying deep reinforcement learning to generate pushing actions for a robotic manipulator acting on a planar surface where objects have to be p...