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Extending the OpenAI Gym for robotics: a toolkit for reinforcement learning using ROS and Gazebo
August 19, 2016 Β· Declared Dead Β· π arXiv.org
"No code URL or promise found in abstract"
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Authors
Iker Zamora, Nestor Gonzalez Lopez, Victor Mayoral Vilches, Alejandro Hernandez Cordero
arXiv ID
1608.05742
Category
cs.RO: Robotics
Citations
167
Venue
arXiv.org
Last Checked
4 months ago
Abstract
This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement Learning techniques: Q-Learning and Sarsa. Ultimately, the output of this work presents a benchmarking system for robotics that allows different techniques and algorithms to be compared using the same virtual conditions.
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