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.
The cluttered environment picking benchmark (cepb) for advanced warehouse automation: evaluating the perception, planning, control, and grasping of manipulation systems
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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.