Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures
Hengyue Liang Xibai Lou Yang Yang Changhyun Choi Hengyue Liang Xibai Lou Yang Yang Changhyun Choi
This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment fixtures (e.g., walls, furniture, heavy objects). This Slide-to-Wall grasping task assumes no prior knowledge except the partial observation of a target object...