Behavior imitation for manipulator control and grasping with deep reinforcement learning

• Main Author: Liu, Qiyuan
• Other Authors: Lyu Chen
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; Motion Imitation, Imitation Learning, Deep Reinforcement Learning, 3D Human Pose Estimation, Motion Retargeting, Inverse Kenimatics, PyBullet Simulation
• Online Access: https://hdl.handle.net/10356/177492
• Institution: Nanyang Technological University

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower, and time. This project combines 3D human pose estimation...