{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/ros2learn-a-reinforcement-learning-framework","title":"ROS2Learn: a reinforcement learning framework for ROS 2","arxiv_id":"1903.06282","date":"2019-03-14","proceeding":null,"authors":["Yue Leire Erro Nuin","Nestor Gonzalez Lopez","Elias Barba Moral","Lander Usategui San Juan","Alejandro Solano Rueda","Víctor Mayoral Vilches","Risto Kojcev"],"abstract":"We propose a novel framework for Deep Reinforcement Learning (DRL) in modular\nrobotics to train a robot directly from joint states, using traditional robotic\ntools. We use an state-of-the-art implementation of the Proximal Policy\nOptimization, Trust Region Policy Optimization and Actor-Critic\nKronecker-Factored Trust Region algorithms to learn policies in four different\nModular Articulated Robotic Arm (MARA) environments. We support this process\nusing a framework that communicates with typical tools used in robotics, such\nas Gazebo and Robot Operating System 2 (ROS 2). We evaluate several algorithms\nin modular robots with an empirical study in simulation.","url_abs":"http://arxiv.org/abs/1903.06282v2","url_pdf":"http://arxiv.org/pdf/1903.06282v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"ros2learn-a-reinforcement-learning-framework","repo_url":"https://github.com/acutronicrobotics/ros2learn","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null},{"paper_slug":"ros2learn-a-reinforcement-learning-framework","repo_url":"https://github.com/kkonen/ros2learn","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}