Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes.
Bohan WuIretiayo AkinolaPeter K. AllenPublished in: IROS (2019)
Keyphrases
- cluttered scenes
- policy gradient
- partially occluded
- shape matching
- multiple objects
- object segmentation
- object models
- object classes
- object class
- salient points
- vision system
- function approximation
- reinforcement learning
- feature selection
- visual attention
- input image
- optimal control
- support vector machine
- pixel wise
- active learning
- training set
- gradient method