2026
Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks
Enrico Turco, Valerio Bo, Chiara Castellani, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo +1
ICRA 2026poster
In this work, we investigate how a state-of-the-art grasp planner based on deep reinforcement learning performs when applied to a soft-rigid gripper in a decluttering task. The gripper, called Soft ScoopGripper, is endowed with a rigid scoop-shaped part that facilitates the interaction with the envi…