视觉推送抓取:通过深度强化学习来训练机器人特工来计划计划的推动和抓握动作,以进行操纵-源码

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视觉推送和抓取工具箱 视觉推送和抓取(VPG)是一种训练机器人代理以学习如何计划互补的推送和抓取操作以进行操纵(例如,用于非结构化的放置和放置应用程序)的方法。 VPG直接在视觉观察(RGB-D图像)上运行,从试错中学习,快速训练,并推广到新的对象和场景。 该存储库提供PyTorch代码,用于在UR5机械臂的模拟和实际设置中通过深度强化学习来训练和测试VPG策略。 这是本文的参考实现: 通过自我监督的深度强化学习来学习推动和抓握之间的协同作用 , ,( ,( ,( ,( 2018年IEEE / RSJ国际智能机器人和系统国际会议(IROS) 熟练的机械手操作得益于非灵活(例如推

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