Project Description
Pixels to Controls is a widely studies topic in the field of controls and machine learning. This project aims to implement behavior based cloning and imitation learning approaches for dynamically unstable systems. The first part of this project has been implemented on ROS and Gazebo. For Golem Krang robot(shown above), an expert LQR controller has been developed which tracks a certain trajectory in simulation. In this ongoing project, next step is to implement behavior based cloning as well as DAGGER algorithm to implement end to end imitation learning. This approach can make dynamically unstable systems safer by being self-aware of the environment in which it operates.
