Learning Dexterous Grasping with Object-Centric Visual Affordances
Priyanka Mandikal Kristen Grauman Priyanka Mandikal Kristen Grauman
Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed an object-centric visual affordance model within a deep reinforcement learning loop to learn grasping policies that favor the same object regions favored by pe...