2021
Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy
Francisco Yandun, Tanvir Parhar, Abhisesh Silwal, David Clifford, Zhiqiang Yuan, Gabriella Levine +2
ICRA 2021poster
We outline a neural network-based pipeline for perception, control and planning of a 7 DoF robot for tasks that involve reaching into a dormant grapevine canopy. The proposed system consists of a 6 DoF industrial robot arm and a linear slider that can actuate on an entire grape vine. Our approach us…