Towards Vision-Based Deep Reinforcement Learning for Robotic Motion Control

  title={Towards Vision-Based Deep Reinforcement Learning for Robotic Motion Control},
  author={Fangyi Zhang and J{\"u}rgen Leitner and Michael Milford and Ben Upcroft and Peter I. Corke},
Manipulation in highly dynamic and complex environments is challenging for robots. This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from camera images and without any prior knowledge is shown for the first time. We build upon the success of recent deep reinforcement learning and develop a system for learning target reaching with a three-joint robot manipulator… CONTINUE READING
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