Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning

doi:10.1109/JAS.2021.1004255

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	Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning
	Yuxiang Yang; Zhihao Ni; Mingyu Gao; Jing Zhang; Dacheng Tao
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:1 页码:135-145
关键词	Convolutional neural network deep Q-learning (DQN) reward function robotic grasping robotic pushing
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004255
英文摘要	Directly grasping the tightly stacked objects may cause collisions and result in failures, degenerating the functionality of robotic arms. Inspired by the observation that first pushing objects to a state of mutual separation and then grasping them individually can effectively increase the success rate, we devise a novel deep Q-learning framework to achieve collaborative pushing and grasping. Specifically, an efficient non-maximum suppression policy (PolicyNMS) is proposed to dynamically evaluate pushing and grasping actions by enforcing a suppression constraint on unreasonable actions. Moreover, a novel data-driven pushing reward network called PR-Net is designed to effectively assess the degree of separation or aggregation between objects. To benchmark the proposed method, we establish a dataset containing common household items dataset (CHID) in both simulation and real scenarios. Although trained using simulation data only, experiment results validate that our method generalizes well to real scenarios and achieves a 97% grasp success rate at a fast speed for object separation in the real-world environment.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45980]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yuxiang Yang,Zhihao Ni,Mingyu Gao,et al. Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):135-145.
APA	Yuxiang Yang,Zhihao Ni,Mingyu Gao,Jing Zhang,&Dacheng Tao.(2022).Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,9(1),135-145.
MLA	Yuxiang Yang,et al."Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 9.1(2022):135-145.