動的物体の追跡と把持のためのマルチタスク強化学習による移動マニピュレーション制御

原文アブストラクト

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In this paper, a multi-task reinforcement learning-based mobile manipulation control framework is proposed to achieve general dynamic object tracking and grasping. Several basic types of dynamic trajectories are chosen as the task training set. To improve the policy generalization in practice, random noise and dynamics randomization are introduced during the training process. Extensive experiments show that our policy trained can adapt to unseen random dynamic trajectories with about 0.1m tracking error and 75\% grasping success rate of dynamic objects. The trained policy can also be successfully deployed on a real mobile manipulator.