kuka_rl's Introduction

Robotic Grasping

Machine learning implementations using OpenAI Gym and PyBullet for robotic grasping.

Deep Q Learning (DQN)

Discrete control problem is considered.
Based on PyTorch tutorial example.
kuka_rl

Proximal Policy Optimization (PPO)

Continuous control problem is considered.
kuka_rl_2

A2C Parallel Implementation

Twice the number of available CPU threads is considered for the KUKA environment to run in parallel.
kuka_rl_2_parallel

Dependencies

pip install pybullet
pip install gym

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