Distributed Reinforcement Learning of Targeted Grasping with Active
Vision for Mobile Manipulators
- URL: http://arxiv.org/abs/2007.08082v2
- Date: Wed, 14 Oct 2020 08:59:39 GMT
- Title: Distributed Reinforcement Learning of Targeted Grasping with Active
Vision for Mobile Manipulators
- Authors: Yasuhiro Fujita, Kota Uenishi, Avinash Ummadisingu, Prabhat Nagarajan,
Shimpei Masuda, and Mario Ynocente Castro
- Abstract summary: We present the first RL-based system for a mobile manipulator that can (a) achieve targeted grasping generalizing to unseen target objects, (b) learn complex grasping strategies for cluttered scenes with occluded objects, and (c) perform active vision through its movable wrist camera to better locate objects.
We train and evaluate our system in a simulated environment, identify key components for improving performance, analyze its behaviors, and transfer to a real-world setup.
- Score: 4.317864702902075
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Developing personal robots that can perform a diverse range of manipulation
tasks in unstructured environments necessitates solving several challenges for
robotic grasping systems. We take a step towards this broader goal by
presenting the first RL-based system, to our knowledge, for a mobile
manipulator that can (a) achieve targeted grasping generalizing to unseen
target objects, (b) learn complex grasping strategies for cluttered scenes with
occluded objects, and (c) perform active vision through its movable wrist
camera to better locate objects. The system is informed of the desired target
object in the form of a single, arbitrary-pose RGB image of that object,
enabling the system to generalize to unseen objects without retraining. To
achieve such a system, we combine several advances in deep reinforcement
learning and present a large-scale distributed training system using
synchronous SGD that seamlessly scales to multi-node, multi-GPU infrastructure
to make rapid prototyping easier. We train and evaluate our system in a
simulated environment, identify key components for improving performance,
analyze its behaviors, and transfer to a real-world setup.
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