arXiv 2205.080342022-05-17cs.LGcs.AIcs.RO

DeepSim: A Reinforcement Learning Environment Build Toolkit for ROS and Gazebo

Amazon Web Services（亚马逊云科技）

Woong Gyu La, Lingjie Kong, Sunil Muralidhara, Pratik Nichat

英文摘要：

We propose DeepSim, a reinforcement learning environment build toolkit for ROS and Gazebo. It allows machine learning or reinforcement learning researchers to access the robotics domain and create complex and challenging custom tasks in ROS and Gazebo simulation environments. This toolkit provides building blocks of advanced features such as collision detection, behaviour control, domain randomization, spawner, and many more. DeepSim is designed to reduce the boundary between robotics and machine learning communities by providing Python interface. In this paper, we discuss the components and design decisions of DeepSim Toolkit.

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