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Author

Zhiyuan Gao

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Conference Jul 2026

Learning Hierarchies in Robotic Manipulation: Asymmetries in Sequential Pushing and Grasping

This paper investigates whether a natural learning hierarchy exists between pushing and grasping in robotic manipulation. Using a deep Q-network with a shared trunk and separate branches, we train five agents: Joint (both primitives simultaneously), PFG (push-only pretraining then frozen trunk, learn grasp), GFP (grasp...

P. Mbua, Jiawei Chen, Xiaohua Wang et al. · 0 citations

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