Combining reinforcement learning and rule-based method to manipulate objects in clutter

Yiwen Chen, Zhaojie Ju, Chenguang Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

196 Downloads (Pure)

Abstract

Picking up the clustered objects is always a challenging task in robot research field. And reinforcement learning enables robot to adapt to different tasks through plenty of attempts. To reduce the complexity of strategy learning, we propose a framework for robots to pick up the objects in clutter on table based on deep reinforcement learning and rule-based method. To manipulate the objects on table, we mainly divide the robot actions into two categories: one is pushing that uses the reinforcement learning method, while the other one is grasping that is inferred by image morphological processing. The pushing action can separate the stacking objects, create a robust grasp point for the following grasp. The grasp detect algorithm determines if there is a suitable grasp point. Judging on the result of pushing, the grasp detect algorithm will return a reward for pushing learning. Taking images as input, our framework can keep a high grasp rate with low computational complexity, which makes it achieve clutter clearing quickly.
Original languageEnglish
Title of host publicationProceedings of the 2020 International Joint Conference on Neural Networks (IJCNN)
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)978-1-7281-6926-2
ISBN (Print)978-1-7281-6927-9
DOIs
Publication statusPublished - 28 Sep 2020
Event2020 International Joint Conference on Neural Networks - Glasgow, United Kingdom
Duration: 19 Jul 202024 Jul 2020

Publication series

NameProceedings of 2020 International Joint Conference on Neural Networks (IJCNN)
PublisherIEEE
ISSN (Print)2161-4393
ISSN (Electronic)2161-4407

Conference

Conference2020 International Joint Conference on Neural Networks
Abbreviated titleIJCNN
Country/TerritoryUnited Kingdom
CityGlasgow
Period19/07/2024/07/20

Keywords

  • RCUK
  • EPSRC
  • EP/S001913

Fingerprint

Dive into the research topics of 'Combining reinforcement learning and rule-based method to manipulate objects in clutter'. Together they form a unique fingerprint.

Cite this