Split Deep Q-Learning for Robust Object Singulation
Iason Sarantopoulos,Marios Kiatos,Zoe Doulgeri,Sotiris Malassiotis,Iason Sarantopoulos,Marios Kiatos,Zoe Doulgeri,Sotiris Malassiotis
Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by adjacent obstacle objects, thus rendering traditional grasping techniques ineffective. In this paper, we propose a pushing policy aiming at singulating the target ...
