Learning Collaborative Pushing and Grasping Policies in Dense Clutter
Bingjie Tang Matthew Corsaro George Konidaris Stefanos Nikolaidis Stefanie Tellex Bingjie Tang Matthew Corsaro George Konidaris Stefanos Nikolaidis Stefanie Tellex
Robots must reason about pushing and grasping in order to engage in flexible manipulation in cluttered environments. Earlier works on learning pushing and grasping only consider each operation in isolation or are limited to top-down grasping and bin-picking. We train a robot to learn joint planar pushing and 6-degree-of-freedom (6-DoF) grasping policies by self-supervision. Two separate deep neura...