HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators

24 Oct 2019Chengshu LiFei XiaRoberto Martin-MartinSilvio Savarese

Most common navigation tasks in human environments require auxiliary arm interactions, e.g. opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks, which we call Interactive Navigation, requires the use of mobile manipulators: mobile bases with manipulation capabilities... (read more)

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