Autonomous AI and Decision Support (AAI & DS) lab is actively involved in the following projects.

Simulation-to-Real (Sim2Real) Deployment using Reinforcement Learning Description

For sim2real, it was necessary to understand and learn the software in the pipeline mainly Robot Operating System (ROS2) and its integration with OpenAI Gymnasium library. Pipeline was being explored first using wheeled robot. We worked on wheeled robot first before moving to quadruped because of the complexity of the pipeline. Digital twin of differential drive wheeled robot has been created with camera and LIDAR sensors. Simulations were being done for training it for obstacle avoidance using reinforcement learning.

Simulation-to-Real (Sim2Real) Deployment using Reinforcement Learning