Investigating sim-to-real transfer for reinforcement learning-based robotic manipulation

• Main Author: Cheng, Jason Kuan Yong
• Other Authors: Soong Boon Hee
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/148803
• Institution: Nanyang Technological University

In this project, model-free Deep Reinforcement Learning (DRL) algorithms were implemented to solve complex robotic environments. These include low- dimensional and high-dimensional robotic tasks. Low-dimensional tasks have state inputs that are discrete values such as robotic arm joint angles, posit...