Treffer: Towards Autonomous Manipulation of Deformable Objects: A Reinforcement Learning Approach

Statement of the Issue The robotic manipulation of deformable materials represents a significant challenge due to its dynamic complexity and the difficulty of modeling and controlling the imprecisely. Unlike rigid objects, deformables, such as fabrics and ropes, exhibit variable configurations that demand innovative solutions. In this context, reinforcement learning emerges as a key tool for robots to learn manipulation strategies through autonomous interaction with their environment. Project objectives This project focuses on the robotic manipulation of deformable objects using reinforcement learning. The main objective is to develop a neural network that enables a robotic arm to autonomously learn how to manipulate deformable materials. This project addresses the implementation of advanced simulation environments and the analysis of reinforcement learning algorithms. Methodology The document details the theoretical elements, simulation tools, and control strategies used. Several frameworks have been introduced to structure the simulated environments and train the agents. Additionally, various simulation platforms have been explored, evaluating their compatibility and suitability. Main Results The experimental results obtained in increasingly complex environments highlight the ability of agents to manipulate linear deformable objects with a certain degree of precision and stability. The tools and methodological approaches have proven robust, providing a solid foundation for future research and industrial applications. Key Conclusions The key conclusions of this work show that the progressive development of simulations, combined with advanced reinforcement learning algorithms, significantly facilitates learning in complex tasks such as the manipulation of deformable objects. This presents a great advantage compared to methods that rely on control algorithms or pre-programmed behavioral sequences. Future Research The developed methodology can be applied to other types of deformable materials, such as fabrics with ...