Ole-Magnus Pedersen

Grasping Unknown Objects by Coupling Deep Reinforcement Learning, Generative Adversarial Networks, and Visual Servoing

In this paper, we propose a novel approach for transferring a deep reinforcement learning (DRL) grasping agent from simulation to a real robot, without fine tuning in the real world. The approach utilises a CycleGAN to close the reality gap between the simulated and real environments, in a reverse r…