Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control

no code implementations • 4 Oct 2022 • Murad Dawood, Nils Dengler, Jorge de Heuvel, Maren Bennewitz

Our experiments show that MPC as an experience source improves the agent's learning process for a given task in the case of sparse rewards.

Model Predictive Control reinforcement-learning +2

NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction

no code implementations • 30 Sep 2022 • Rohit Menon, Tobias Zaenker, Nils Dengler, Maren Bennewitz

Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time.

Image Segmentation Semantic Segmentation