Alexiy Buynitsky

Robotic Learning Projects

Classical + Learning Based Motion Planning / Control projects

VPG; RRT; MPNET; PID

Project 1:

*Implement (bi)RRT, (bi)RRTConnect, RRT* for cars and 6-DOF robot arms*

References:

• Rapidly-Exploring Random Trees: Progress and Prospects
• RRT-Connect: Anefficinet approahc to single-query path planning

Project 2:

Implemented Iterative & Analytic PID for 2-DOF arms

Extended this to control a Unitree A1 Robot in Gazebo sim:

Project 3:

Implement MPNet in 2D/3D environments

References:

• Motion Planning Networks

Project 4:

Implement VPG for 2-DOF arm in Pybullet

References

• Vanilla Policy Gradient