Titulo Estágio
Deep Reinforcement Learning for vision-based robotic grasping
Áreas de especialidade
Sistemas Inteligentes
Local do Estágio
Departamento de Engenharia Electrotécnica da Universidade de Coimbra
Enquadramento
Mobile robots have been becoming more autonomous, but some challenges persist. One of the main challenges for a robot that aims to coexist with humans, is the ability to understand its environment and safely act in it. This thesis aims to study and develop Deep Reinforcement Learning methods for controlling a robotic arm to pick target objects from shelves and place them on a cart for transportation, having as input RGB-D images (i.e., images with an additional depth channel).
Objetivo
The main goal of this dissertation is to design, implement and test a framework that enables a robot to, using visual and depth information, identify a target object independently of its pose and safely pick it up and place it on a cart for transportation. The work will investigate Deep Reinforcement Learning [1] techniques to produce robotic controllers and, possibly, Evolutionary Machine Learning [2] techniques for designing Convolutional Neural Networks that will be trained by the previous methods.The various modules of the robot shall be integrated using the Robot Operating System (ROS) framework.1 - François-Lavet, V., Henderson, P., Islam, R., Bellemare, M. G., & Pineau, J. (2018). An introduction to deep reinforcement learning. arXiv preprint arXiv:1811.12560.2 - Mirjalili, S., Faris, H., & Aljarah, I. (2019). Evolutionary machine learning techniques. Springer-Verlag GmbH.
Plano de Trabalhos - Semestre 1
1 - Literature review.2 - First steps with a mobile robot.3 - Definition of the techniques and technologies that will be used. 4 - System Architecture Design5 - Implementation of the first version of the system 6 - Writing the intermediate report
Plano de Trabalhos - Semestre 2
7 - Analysis of the first prototype and the obtained results8 - Refinement of the prototype9 - Validation in a realistic environment 10 - Writing the thesis11 - Writing a scientific article with the main results
Condições
The work will be carried out in the Laboratory of Embedded Systems of the Institute of System and Robotics (next to the Department of Electrical Engineering of the University of Coimbra).
Orientador
Lino Marques
lino@isr.uc.pt 📩