Ontology highlight
ABSTRACT:
SUBMITTER: Cong L
PROVIDER: S-EPMC8926160 | biostudies-literature | 2022
REPOSITORIES: biostudies-literature
Cong Lin L Liang Hongzhuo H Ruppel Philipp P Shi Yunlei Y Görner Michael M Hendrich Norman N Zhang Jianwei J
Frontiers in neurorobotics 20220302
We propose a vision-proprioception model for planar object pushing, efficiently integrating all necessary information from the environment. A Variational Autoencoder (VAE) is used to extract compact representations from the task-relevant part of the image. With the real-time robot state obtained easily from the hardware system, we fuse the latent representations from the VAE and the robot end-effector position together as the state of a Markov Decision Process. We use Soft Actor-Critic to train ...[more]