Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation

@inproceedings{Katz2008LearningTM,
  title={Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation},
  author={Dov Katz and Yuri Pyuro and Oliver Brock},
  booktitle={Robotics: Science and Systems},
  year={2008}
}
We introduce a learning-based approach to manipulation in unstructured environments. This approach permits autonomous acquisition of manipulation expertise from interactions with the environment. The resulting expertise enables a robot to perform effective manipulation based on partial state information. The manipulation expertise is represented in a relational state representation and learned using relational reinforcement learning. The relational representation renders learning tractable by… CONTINUE READING
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