Vision-based Robotic Grasping in Simulation using Deep Reinforcement Learning

Abstract

This thesis will investigate different robotic manipulation and grasping approaches. It will present an overview of robotic simulation environments, and offer an evaluation of PyBullet, CoppeliaSim, and Gazebo, comparing various features. The thesis further presents a background for current approaches to robotic manipulation and grasping by describing how the robotic movement and grasping can be organized. State-of-the-Art approaches for learning robotic grasping, both using supervised methods and reinforcement learning methods are presented. Two set of experiments will be conducted in PyBullet, illustrating how Deep Reinforcement Learning methods could be applied to train a 7 degrees of freedom robotic arm to grasp objects.