Paper presented at ICRA 2020 about an Object Finding in Cluttered Scenes Using Interactive Perception.
We propose a method to find hidden objects in a clutter of objects with interactive perception. A robot manipulator equipped with a camera can interact with the scene and leverages reinforcement learning and a simplified TSDF representation to explore its environment. We successfully demonstrate our method both in simulation and with a real robot.
Paper: https://arxiv.org/abs/1911.07482
