XPG-RL learns adaptive thresholds for switching between grasping, occlusion removal, and viewpoint adjustment, improving mechanical search efficiency by up to 4.5x over baselines.
Mechanical search: Multi-step retrieval of a target object occluded by clutter
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XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search
XPG-RL learns adaptive thresholds for switching between grasping, occlusion removal, and viewpoint adjustment, improving mechanical search efficiency by up to 4.5x over baselines.