Semi-Autonomous Teleoperation via Learning Non-Prehensile Manipulation Skills
Sangbeom Park,Yoonbyung Chai,Sunghyun Park,Jeongeun Park,Kyungjae Lee,Sungjoon Choi,Sangbeom Park,Yoonbyung Chai,Sunghyun Park,Jeongeun Park,Kyungjae Lee,Sungjoon Choi
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and non-prehensile manipulation are combined for efficient teleoperation. A trajectory-based reinforcement learning is utilized for learning the non-prehensile manipu...
