While writing my Master Thesis at ASL ETH Zurich, our team wrote a paper about achieving Whole-Body Control of a Mobile Manipulator by using End-to-End Reinforcement Learning. Especially, we were using Proximal Policy Optimization (PPO), an Actor-Critic method which has the benefits of TRPO while reducing the amount of hyperparameters.
We submitted our paper to IROS/RA-L 2020 and uploaded it to the preprint server arXiv. A 60s summary of the paper was uploaded to YouTube:
I am Julien Kindle from the Principality of Liechtenstein and this is my collection of projects I've created. If you're interested in new projects and want to receive an email as soon as I publish a new one (T≈1 year), Subscribe HERE