nicrusso7

yeah the current motor model takes the desired position as input and convert it to torque (applying some 'noise' trying mimic the real motors).

Maybe the cost of the robot..? It wouldn’t be cheap I guess.. but yeah definitely a great application of robotics.

Well done! Btw I do agree with you regarding the knowledge transfer on the real robot platform. The open source design is built to work with very cheap servos and the alinement is not quite easy too.

As you, I was totally new to RL when I started (almost 1 year ago) - I’m a DevOps engineer during the day :) The goal of this project for me is learning ML more than build a product - that’s why the limited focus on hw implementation. Anyway, there are examples on the web on how to run the policies on the real world robot (even using ROS) - maybe in the future I’ll digging in this topic as well!

Very honestly, I’ve started looking at CV since I’ve integrated the robotic arm in my model (a couple of days ago :)). I‘m actually searching paper/project on it - My next step is the “open a door” task

This would require a very good image recognition software! Anyway yeah I do agree that agricultural robots are quite interesting and profitable at least in the near future.

Awesome! Any PR is welcome. In the meanwhile I’ll have a look at your rt-rrt implementation.

Oh well I can definitely add a vac-env on my todo list :D

thank you very much! any feedback is welcome!

Re the maze, I've got just the terrain so far - I'm working on the gym environment.. I was thinking to write 2 different versions of it, one in which the robot has a map of the maze and navigate it using a path finding algo (probably A*) and another version without any map (I'll probably need a lidar for this).

thanks! well, good question. I think it's a mix between ML (probably not just simulations but also directly learn from real-world experiences) and more classic approaches. There are some very interesting examples on the Google AI blog like this one (https://ai.googleblog.com/2020/04/exploring-nature-inspired-...)

Thanks!

nope, I'll publish rex-robot repo asap ;)

I've already printed and assembled one, the creator posted 2 videos in his thingiverse repo https://www.thingiverse.com/thing:3445283

Well the very first attempt this guys made (https://arxiv.org/pdf/1804.10332.pdf#subsection.6.1) was let the model learn from scratch (open loop, large bounds feedback). An agile galloping gait emerged automatically also in my simulation (https://github.com/nicrusso7/rex-gym#galloping-gait---from-s...), even if the gait was 'noisy'

Thanks! I'm currently working on the 'knowledge transfer', the aim is to build an almost-real-time controller for the robot - I'll probably start with a web app. Any contribution is welcomed!! :)

I do agree, this is one of the many improvementents/experimentation the project needs. Actually, the Minitaur example come with a torque controller implementation (https://github.com/bulletphysics/bullet3/blob/master/example...), needs tests. btw I'm going to use a Jetson mini as controller!! :)