Uncertainty-driven Exploration Strategies for Online Grasp Learning

Existing grasp prediction approaches are mostly based on offline learning, while, ignored the exploratory grasp learning during online adaptation to new picking scenarios, i.e., unseen object portfolio, camera and bin settings etc. In this paper, we present a novel method for online learning of grasp predictions for robotic bin picking in a principled way. Existing grasp prediction approaches are mostly based on offline learning, while, ignored the exploratory grasp learning during online adaptation to new picking scenarios, i.e., unseen object portfolio, camera and bin settings etc. In this paper, we present a novel method for online learning of grasp predictions for robotic bin picking in a principled way. Specifically, the online learning algorithm with an effective exploration strategy can significantly improve its adaptation performance to unseen environment settings. To this end, we first propose to formulate online grasp learning as a RL problem that will allow to adapt both grasp reward prediction and grasp poses. We propose various uncertainty estimation schemes based on Bayesian Uncertainty Quantification and Distributional Ensembles. We carry out evaluations on real-world bin picking scenes of varying difficulty. The objects in the bin have various challenging physical and perceptual characteristics that can be characterized by semi- or total transparency, and irregular or curved surfaces. The results of our experiments demonstrate a notable improvement in the suggested approach compared to conventional online learning methods which incorporate only naive exploration strategies.