Reinforcement Learning Based Pushing and Grasping Objects from Ungraspable Poses
Hao Zhang,Hongzhuo Liang,Lin Cong,Jianzhi Lyu,Long Zeng,Pingfa Feng,Jianwei Zhang,Hao Zhang,Hongzhuo Liang,Lin Cong,Jianzhi Lyu,Long Zeng,Pingfa Feng,Jianwei Zhang
Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge of the table and then grasping it from the hanging part. In this paper, we develop a model-free Deep Reinforcement Learning framework to synergize pushing and g...
