An Educational Kit for Simulated Robot Learning in ROS 2

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2024

Autores

Almeida, F (Autor) Outra; Leao, G (Autor) Outra; Armando Jorge Sousa (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE, VOL 2

Páginas: 513-525

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-010-EZB

DOI: 10.1007/978-3-031-59167-9_42

Abstract (EN): Robot Learning is one of the most important areas in Robotics and its relevance has only been increasing. The Robot Operating System (ROS) has been one of the most used architectures in Robotics but learning it is not a simple task. Additionally, ROS 1 is reaching its end-of-life and a lot of users are yet to make the transition to ROS 2. Reinforcement Learning (RL) and Robotics are rarely taught together, creating greater demand for tools to teach all these components. This paper aims to develop a learning kit that can be used to teach Robot Learning to students with different levels of expertise in Robotics. This kit works with the Flatland simulator using open-source free software, namely the OpenAI Gym and Stable-Baselines3 packages, and contains tutorials that introduce the user to the simulation environment as well as how to use RL to train the robot to perform different tasks. User tests were conducted to better understand how the kit performs, showing very positive feedback, with most participants agreeing that the kit provided a productive learning experience.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13