Precision-Focused Reinforcement Learning Model for Robotic Object Pushing

Lara Bergmann, David Leins, Robert Haschke, Klaus Neumann
11/13/2024
cs.ROcs.AI

No official code found. Best implementation: ubi-coro/precise_pushing (9 stars, GPL-3.0, last commit 2024-09-13).

Abstract

Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different and sometimes unknown physical properties, such as shape, size, mass, and friction. This can lead to the object overshooting its target position, requiring fast corrective movements of the robot around the object, especially in cases where objects need to be precisely pushed. In this paper, we improve the state-of-the-art by introducing a new memory-based vision-proprioception RL model to push objects more precisely to target positions using fewer corrective movements.

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Code Implementations(1)

ubi-coro/precise_pushingCommunity100%
GPL-3.0

Precision-Focused Reinforcment Learning for Robotic Object Pushing

94C++, CMakeSep 13, 20242 years agoGPL-3.0
gymnasiummujocoobject-manipulationobject-pushingreinforcement-learning+1 more

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Cite this paper

@article{bergmann2024precisionfocused,
  title  = {Precision-Focused Reinforcement Learning Model for Robotic Object Pushing},
  author = {Lara Bergmann and David Leins and Robert Haschke and Klaus Neumann},
  year   = {2024},
  eprint = {2411.08622},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2411.08622v1}
}

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