Corpus ID: 204915922

HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators

@inproceedings{Li2019HRL4INHR,
  title={HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators},
  author={Chengshu Li and Fei Xia and R. Martin and S. Savarese},
  booktitle={CoRL},
  year={2019}
}
  • Chengshu Li, Fei Xia, +1 author S. Savarese
  • Published in CoRL 2019
  • Computer Science, Mathematics
  • Most common navigation tasks in human environments require auxiliary arm interactions, e.g. opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks, which we call Interactive Navigation, requires the use of mobile manipulators: mobile bases with manipulation capabilities. Interactive Navigation tasks are usually long-horizon and composed of heterogeneous phases of pure navigation, pure manipulation, and their combination. Using the wrong part of the embodiment… CONTINUE READING
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