Udacity Student Project: Deep Reinforcement Learning Arm Manipulation

A Udacity student project to create a DQN agent and define reward functions to teach a robotic arm to carry out two primary objectives:

• Have any part of the robot arm touch the object of interest, with at least a 90% accuracy.
• Have only the gripper base of the robot arm touch the object, with at least a 80% accuracy.

In this project, students will learn the following:

• Create a DQN agent for a robotic arm in gazebo.
• Define reward functions and tune the hyperparameters for RL agent to train the robot arm to perform specific tasks.

Full report can refer to here.

Run the Project

After completing the project, you can launch it by running the following commands

$ cd /home/workspace/RoboND-DeepRL-Project/build
$ make
$ cd x86_64/bin
$ ./gazebo-arm.sh

Objective 1's Result

Objective 2's Result