IsaacGym Franka Cube Stack Task, Reinforcement Learning for Stacking Cubes with a Robotic Arm

Using IsaacGym to Perform Reinforcement Learning for Cube Stacking with the Franka Panda Robot
Github: github.com/tweak4u/IsaacGymEn...
00:00 Intro
00:30 tweak
00:35 Task description
01:37 Github
02:16 Config files
10:43 Joint control mode and PD control
30:35 Joint control mode initialization
33:35 Sstate and action in OSC mode
45:19 State and action in torque mode
45:57 Pre-step for joint control
53:10 Policy
57:41 Reward function
59:58 Distance reward
01:06:06 Lift reward
01:11:02 Align reward
01:17:34 Stack reward
01:24:57 Reset condition
01:26:13 Practice
01:41:10 Next video preview
01:42:33 Outro

[@user-zr3ke7tx9v]

너무너무 감사합니다!!

[@hubertkim7021]

와 엄청 디테일하게 알려주시네요. 감사합니다!

[@user-ix3zc3bp4k]

감사합니다!!