Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy
Francisco Yandun Tanvir Parhar Abhisesh Silwal David Clifford Zhiqiang Yuan Gabriella Levine Sergey Yaroshenko George Kantor Francisco Yandun Tanvir Parhar Abhisesh Silwal David Clifford Zhiqiang Yuan Gabriella Levine Sergey Yaroshenko George Kantor
We outline a neural network-based pipeline for perception, control and planning of a 7 DoF robot for tasks that involve reaching into a dormant grapevine canopy. The proposed system consists of a 6 DoF industrial robot arm and a linear slider that can actuate on an entire grape vine. Our approach uses Convolutional Neural Networks to detect buds in dormant grape vines and a Reinforcement Learning ...