TY - GEN
T1 - Implementing Robotic Pick and Place with Non-visual Sensing Using Reinforcement Learning
AU - Imtiaz, Muhammad Babar
AU - Qiao, Yuansong
AU - Lee, Brian
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this study, we focus on learning and carrying out pick and place operations on various objects moving on a conveyor belt in a non-visual environment, using proximity sensors. The problem under consideration is formulated as a Markov Decision Process. and solved by using Reinforcement Learning. Learning robotic manipulations using simple reward signals is still considered to be an unresolved problem. Our reinforcement learning algorithm is based on model-free off-policy training using Q-Learning. Training and testing are performed in a simulation-based testbed, proving our approach to be successful in pick and place operations in non-visual industrial setups.
AB - In this study, we focus on learning and carrying out pick and place operations on various objects moving on a conveyor belt in a non-visual environment, using proximity sensors. The problem under consideration is formulated as a Markov Decision Process. and solved by using Reinforcement Learning. Learning robotic manipulations using simple reward signals is still considered to be an unresolved problem. Our reinforcement learning algorithm is based on model-free off-policy training using Q-Learning. Training and testing are performed in a simulation-based testbed, proving our approach to be successful in pick and place operations in non-visual industrial setups.
KW - markov decision problem
KW - non-visual
KW - q-learning
KW - reinforcemenet learning
KW - robotic manipulations
UR - http://www.scopus.com/inward/record.url?scp=85136174146&partnerID=8YFLogxK
U2 - 10.1109/ICRCA55033.2022.9828993
DO - 10.1109/ICRCA55033.2022.9828993
M3 - Conference contribution
AN - SCOPUS:85136174146
T3 - 2022 6th International Conference on Robotics, Control and Automation, ICRCA 2022
SP - 23
EP - 28
BT - 2022 6th International Conference on Robotics, Control and Automation, ICRCA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics, Control and Automation, ICRCA 2022
Y2 - 26 February 2022 through 28 February 2022
ER -