Reinforcement learning for appearance based visual servoing in robotic manipulation

The objective of this paper is to develop a new appearance based visual servoing method that needs no prior structuring of the environment and also eliminates the correspondence problem associated with conventional visual servoing methods. Detailed description of object appearance and its generation are provided in this paper. In addition, owing to the non-linear and high dimensional nature of the object appearance a Machine Learning method known as Reinforcement Learning is to generate the controller.