Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies

Part of book or chapter of book, Unknown English OPEN
Osa, Takayuki ; Peters, Jan ; Neumann, Gerhard (2017)
  • Publisher: Springer International Publishing
  • Related identifiers: doi: 10.1007/978-3-319-50115-4_15
  • Subject: H671 Robotics | G760 Machine Learning
    acm: TheoryofComputation_MISCELLANEOUS

Robotic grasping has attracted considerable interest, but it still remains a challenging task. The data-driven approach is a promising solution to the robotic grasping problem; this approach leverages a grasp dataset and generalizes grasps for various objects. However, these methods often depend on the quality of the given datasets, which are not trivial to obtain with sufficient quality. Although reinforcement learning approaches have been recently used to achieve autonomous collection of grasp datasets, the existing algorithms are often limited to specific grasp types. In this paper, we present a framework for hierarchical reinforcement learning of grasping policies. In our framework, the lowerlevel hierarchy learns multiple grasp types, and the upper-level hierarchy learns a policy to select from the learned grasp types according to a point cloud of a new object. Through experiments, we validate that our approach learns grasping by constructing the grasp dataset autonomously. The experimental results show that our approach learns multiple grasping policies and generalizes the learned grasps by using local point cloud information.
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