Partho Ghose

Sim-to-Real Reinforcement Learning for Path-Safe Target Reaching in Robotic Harvesting of Hydroponic Lettuce

Robotic harvesting requires precise manipulation to ensure accurate positioning of the end-effector, especially in a constraint workspace. This study introduces the Path-Safe Approach Proximal Policy Optimization (PSA-PPO), a target-conditioned local reaching framework designed for robotic harvesting of nutrient film t...