cankutboratuncer / dynamical-tilt-maze-solving-with-4-6dof-franka-robots-using-sarsa-q-table

Dynamical Tilt Maze Solving with 4 6DoF Franka Robots Using SARSA with Eligibility Trace

CS449/549 Learning For Robotics Final Project

If you are interested in the project, you can contact me via my email, [email protected]

Description

This project focuses on working the four robotic arms in harmony to tilt the maze throughout the path of the ball with precise movement. Our methodology involved experimenting with six different dynamical tilting mazes with the SARSA algorithm with eligibility traces. We expect our findings to enhance the real-world applications of RL with the time efficiency of our software experiments.

Please also see the supplementary video to get an impression of the project.

Quick Start

You can run the model by running the test.py or try it on your own by running the manuel_test.py.