DRL Based Intelligent Joint Manipulator and Viewing Camera Control for Reaching Tasks and Environments with Obstacles and Occluders

Edward W. Staley, Kapil D. Katyal, Philippe Burlina

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work studies joint camera and robotic manipulator control for reaching tasks in complex environments with obstacles and occluders. We obviate the conventional challenges involved in complex perception, planning, and control modules and careful calibration for sensing and actuation and seek a solution leveraging deep reinforcement learning (DRL). Our method using DRL and deep Q-learning learns a policy for robot actuation and perception control, mapping directly raw image pixels inputs into camera motion and manipulator joint control actions outputs. We show results comparing different training approaches, and demonstrating competency for increasingly complex situations and degrees of freedom. These preliminary experiments suggest the effectiveness and robustness of the proposed approach.

Original languageEnglish (US)
Title of host publication2018 International Joint Conference on Neural Networks, IJCNN 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509060146
DOIs
StatePublished - Oct 10 2018
Event2018 International Joint Conference on Neural Networks, IJCNN 2018 - Rio de Janeiro, Brazil
Duration: Jul 8 2018Jul 13 2018

Publication series

NameProceedings of the International Joint Conference on Neural Networks
Volume2018-July

Other

Other2018 International Joint Conference on Neural Networks, IJCNN 2018
CountryBrazil
CityRio de Janeiro
Period7/8/187/13/18

Keywords

  • Deep Q -learning
  • deep reinforcement learning
  • joint actuation and perception control

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

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