Coinbot: Intelligent Robotic Coin Bag Manipulation Using Deep Reinforcement Learning And Machine Teaching
Aleksei Gonnochenko, Aleksandr Semochkin, Dmitry Egorov, Dmitrii, Statovoy, Seyedhassan Zabihifar, Aleksey Postnikov, Elena Seliverstova, Ali, Zaidi, Jayson Stemmler, Kevin Limkrailassiri

TL;DR
This paper presents an autonomous robotic system that uses deep reinforcement learning and machine learning for efficient and safe manipulation of deformable coin bags in bank cash centers, achieving over 96% success.
Contribution
It introduces a novel integration of deep learning, reinforcement learning, and specialized hardware for robotic manipulation of deformable objects like coin bags.
Findings
Success rate over 96% in real-world trials
Effective bag detection and pose estimation using deep learning
Enhanced motion planning for faster operation
Abstract
Given the laborious difficulty of moving heavy bags of physical currency in the cash center of the bank, there is a large demand for training and deploying safe autonomous systems capable of conducting such tasks in a collaborative workspace. However, the deformable properties of the bag along with the large quantity of rigid-body coins contained within it, significantly increases the challenges of bag detection, grasping and manipulation by a robotic gripper and arm. In this paper, we apply deep reinforcement learning and machine learning techniques to the task of controlling a collaborative robot to automate the unloading of coin bags from a trolley. To accomplish the task-specific process of gripping flexible materials like coin bags where the center of the mass changes during manipulation, a special gripper was implemented in simulation and designed in physical hardware. Leveraging…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobot Manipulation and Learning · Soft Robotics and Applications · Reinforcement Learning in Robotics
