Distributed Reinforcement Learning of Targeted Grasping with Active Vision for Mobile Manipulators
Yasuhiro Fujita,Kota Uenishi,Avinash Ummadisingu,Prabhat Nagarajan,Shimpei Masuda,Mario Ynocente Castro,Yasuhiro Fujita,Kota Uenishi,Avinash Ummadisingu,Prabhat Nagarajan,Shimpei Masuda,Mario Ynocente Castro
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the first RL-based system, to our knowledge, for a mobile manipulator that can (a) achieve targeted grasping generalizing to unseen target objects, (b) learn comple...
