TY - GEN
T1 - Visual-Based Deep Reinforcement Learning for Robot Grasping with Pushing
AU - Li, Shufan
AU - Yu, Sheng
AU - Zhai, Di Hua
AU - Xia, Yuanqing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Robot grasping is a hot topic in the field of intelligent robot. The synergistic effect of robot grasping and pushing is of great help to manipulation tasks of robots. Someone proposed a model-free grasping method for robot based on deep reinforcement learning combined with a pushing and grasping network, which can determine action choices in pushing and grasping based on visual scene states and then obtain rewards. The network was trained through trial and error. Based on this method, we improve the model by adding feature fusion module and attention module to the deep Q-network, and train and test it in a simulated environment. The experiments show that our model has significantly improved grasping success rate and efficiency. Moreover, in complex unknown environments, the grasping performance of our model is also better than that of the original model.
AB - Robot grasping is a hot topic in the field of intelligent robot. The synergistic effect of robot grasping and pushing is of great help to manipulation tasks of robots. Someone proposed a model-free grasping method for robot based on deep reinforcement learning combined with a pushing and grasping network, which can determine action choices in pushing and grasping based on visual scene states and then obtain rewards. The network was trained through trial and error. Based on this method, we improve the model by adding feature fusion module and attention module to the deep Q-network, and train and test it in a simulated environment. The experiments show that our model has significantly improved grasping success rate and efficiency. Moreover, in complex unknown environments, the grasping performance of our model is also better than that of the original model.
KW - Attention Module
KW - Deep Reinforcement Learning
KW - Feature Fusion Module
KW - Robot Grasping with Pushing
UR - http://www.scopus.com/inward/record.url?scp=85185570304&partnerID=8YFLogxK
U2 - 10.1109/YAC59482.2023.10401687
DO - 10.1109/YAC59482.2023.10401687
M3 - Conference contribution
AN - SCOPUS:85185570304
T3 - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
SP - 768
EP - 773
BT - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
Y2 - 27 August 2023 through 29 August 2023
ER -