Machine learning for human robot collaboration
With the advent of technology, autonomous robotic agents have attained an increasingly important role in various industries such as manufacturing, transportation or even agriculture. Despite the numerous benefits they offer, these agents still present the challenge of adapting to small changes in th...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/158190 |
| _version_ | 1811686105191284736 |
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| author | Pranay, Mathur |
| author2 | Tan Yap Peng |
| author_facet | Tan Yap Peng Pranay, Mathur |
| author_sort | Pranay, Mathur |
| collection | NTU |
| description | With the advent of technology, autonomous robotic agents have attained an increasingly important role in various industries such as manufacturing, transportation or even agriculture. Despite the numerous benefits they offer, these agents still present the challenge of adapting to small changes in their tasks. An additional challenge is encountered in the effort and expertise required to teach an agent a new skill. This process can be simplified through Imitation Learning, which aims to teach an agent new skills by exposing it to expert demonstrations. This project explores the use of Generative Adversarial Imitation Learning to train a robotic simulation on the OpenAI Gym framework. Further, this project examines the effectiveness of pre-training and Spectral Normalization on the performance of the trained agent and the speed and stability of the training process. Through extensive experimentation, this project determines that using Proximal Policy Optimization instead of Trust-Region Policy Optimization can enhance agent performance. Additionally, this project shows that pre-training can accelerate learning speed, and spectral normalization can improve training stability. |
| first_indexed | 2024-10-01T04:55:07Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/158190 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:55:07Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1581902023-07-07T19:27:00Z Machine learning for human robot collaboration Pranay, Mathur Tan Yap Peng School of Electrical and Electronic Engineering EYPTan@ntu.edu.sg Engineering::Electrical and electronic engineering With the advent of technology, autonomous robotic agents have attained an increasingly important role in various industries such as manufacturing, transportation or even agriculture. Despite the numerous benefits they offer, these agents still present the challenge of adapting to small changes in their tasks. An additional challenge is encountered in the effort and expertise required to teach an agent a new skill. This process can be simplified through Imitation Learning, which aims to teach an agent new skills by exposing it to expert demonstrations. This project explores the use of Generative Adversarial Imitation Learning to train a robotic simulation on the OpenAI Gym framework. Further, this project examines the effectiveness of pre-training and Spectral Normalization on the performance of the trained agent and the speed and stability of the training process. Through extensive experimentation, this project determines that using Proximal Policy Optimization instead of Trust-Region Policy Optimization can enhance agent performance. Additionally, this project shows that pre-training can accelerate learning speed, and spectral normalization can improve training stability. Bachelor of Engineering (Electrical and Electronic Engineering) 2022-05-31T08:51:24Z 2022-05-31T08:51:24Z 2022 Final Year Project (FYP) Pranay, M. (2022). Machine learning for human robot collaboration. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158190 https://hdl.handle.net/10356/158190 en A3246-211 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Pranay, Mathur Machine learning for human robot collaboration |
| title | Machine learning for human robot collaboration |
| title_full | Machine learning for human robot collaboration |
| title_fullStr | Machine learning for human robot collaboration |
| title_full_unstemmed | Machine learning for human robot collaboration |
| title_short | Machine learning for human robot collaboration |
| title_sort | machine learning for human robot collaboration |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/158190 |
| work_keys_str_mv | AT pranaymathur machinelearningforhumanrobotcollaboration |