沙特首都金融区遭袭 目击者称阿美石油大楼受损
沙特首都金融区遭袭 目击者称阿美石油大楼受损装箱机器人把堆垛稳定性纳入每一步选择
新箱子会陆续到达，机器人摆放眼前的箱子时，既不清楚以后还有什么形状，也不能让已经堆好的箱子倒下。SHORE方法同时估计某个位置能否放稳，以及在放稳的条件下这一动作能带来多少收益，再决定挑哪只箱子、如何转向以及放在哪里。训练使用了实际执行结果和模拟的其他选择，部署时不需要为每一步新增搜索。 Chang Shi和Ann Majewicz Fey的这项研究收录在11月6日更新的计算机科学预印本列表中。
在Isaac Gym仿真中，该方法约用40万步达到73%的空间利用率，不建模稳定性的同类学习器约需100万步。在包含60种箱子的测试中，利用率为73.4%，对照方法为58.8%。与此同时，放置失败频率也从对照组的0.63%升至1.03%。作者另外做了真机演示。这组数据给出了装得更多与失稳风险上升之间的实际取舍。
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好好 学习了 确实不错
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