Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning

Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more prec...

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Bibliographic Details
Main Authors: Zeng, Andy, Song, Shuran, Welker, Stefan, Lee, Johnny, Rodriguez Garcia, Alberto, Funkhouser, Thomas
Other Authors: Massachusetts Institute of Technology. Department of Mechanical Engineering
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/130010

Internet

https://hdl.handle.net/1721.1/130010

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