Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning

Directly grasping the tightly stacked objects may cause collisions and result in failures, degenerating the functionality of robotic arms. Inspired by the observation that first pushing objects to a state of mutual separation and then grasping them individually can effectively increase the success rate, we devise a novel deep Q-learning framework to achieve collaborative pushing and grasping. Spec...