Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy
Francisco Yandun,Tanvir Parhar,Abhisesh Silwal,David Clifford,Zhiqiang Yuan,Gabriella Levine,Sergey Yaroshenko,George Kantor,Francisco Yandun,Tanvir Parhar,Abhisesh Silwal,David Clifford,Zhiqiang Yuan,Gabriella Levine,Sergey Yaroshenko,George Kantor
We outline a neural network-based pipeline for perception, control and planning of a 7 DoF robot for tasks that involve reaching into a dormant grapevine canopy. The proposed system consists of a 6 DoF industrial robot arm and a linear slider that can actuate on an entire grape vine. Our approach uses Convolutional Neural Networks to detect buds in dormant grape vines and a Reinforcement Learning ...
