/RL-Contact-Rich-Path-following

This repository showcases the use of a simulated cutter on a KUKA robot, coupled with vision, to instruct a Reinforcement Learning (RL) agent in following a contact-rich path across various surfaces.

Primary LanguageMATLABMIT LicenseMIT

RL-Contact-Rich-Path-following

This repository showcases the use of a simulated cutter on a KUKA robot, coupled with vision, to instruct a Reinforcement Learning (RL) agent in following a contact-rich path across various surfaces (The Ros package and gazebo simulation part is not included).

cutting

The environment of interest should be cloned, and ROS Topics and ROS services and functionalities should be updated respectively in all the files.

TO DO

The example simulation environmentt will be added.