Investigating of deep reinforcement learning-based techniques for robotic manipulation

• Main Author: Lee, Eu Shane
• Other Authors: Soong Boon Hee
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/157904
• Institution: Nanyang Technological University

This project is a continuation of the earlier work on reinforcement learning. The project will investigate on reinforcement learning based techniques for high dimensional robotic manipulation tasks. From earlier work, 4 reinforcement learning algorithms were implemented and tested on high dimensional robotic manipulation tasks. The tasks involved Open Box, Close Box, Pick up Cup, and Scoop with Spatula, from the RLBench task implementations. From earlier results, Option-Critic showed the best results which was able to solve Open box and Close box. The Option-Critic algorithm previously learnt to open and close the box by forcing open the box and hitting the box lid closed. This was due to a bug in RLBench collision function which caused the lid to ignore collisions allowing the lid to be opened and closed by hitting the lid. The function has been fixed in recent updates to RLBench which led to the algorithm not being able to solve the tasks. Thus, we will be moving with the notion of the algorithms not being able to solve any robotic manipulation tasks. The project will be focusing on Reach Target and Pick Up Cup tasks. From the conclusion of previous works, sparse reward signal and hyper parameters were attributed as the reasons which hindered the robotic manipulation tasks to be solved. Thus, we will be implementing dense reward signal to help the algorithms converge towards the goal. Another method we will be looking into is hyper parameter optimization.