A hierarchical reinforcement learning framework with a CVAE contact-location model lets a parallel gripper grasp otherwise unreachable objects on tall walls by combining pushing, pivoting, and grasping, with 90% real-world success across six unseen objects.
Learning insertion primitives with discrete-continuous hybrid action space for robotic assembly tasks,
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Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls
A hierarchical reinforcement learning framework with a CVAE contact-location model lets a parallel gripper grasp otherwise unreachable objects on tall walls by combining pushing, pivoting, and grasping, with 90% real-world success across six unseen objects.