HAGrasp: Hybrid Action Grasp Control in Cluttered Scenes using Deep Reinforcement Learning

摘要

Robotic autonomous grasp requires the system to perform multiple functions such as gripper and robot control, making it a task with hybrid output nature. Existing methods based on closed-loop deep reinforcement learning rely on external models for termination evaluation. To achieve more effective grasp for novel objects, we propose a new autonomous grasp control scheme termed HAGrasp that considers the complete point cloud of the workspace. It integrates grasp pose estimation, end-effector pose evaluation, and motion planning of the robotic arm into a single model, enhancing the success rate while reducing computational load. We present a closed-loop grasp control system based on deep reinforcement learning. This control system can perform grasp tasks while dynamically adjusting to avoid end-effector collisions. The design of hybrid-action reinforcement learning module is trained with unified latent action space and further improve generalization, achieving real-time autonomous grasp control. Real robot experiments show that our method has 74.2% success rate for grasping 7 unseen objects. Comparative experiments show that the proposed HAGrasp outperforms open-loop baseline Contact-Graspnet in both success rate and inference time. It is demonstrated that with integrated multi-view input and sim-to-real training design, our method improves real-world applications of autonomous grasp.