Introduction to robotics with Q-learning on Cozmo.

The repository contains 3 sets of python scripts:

• Models

  • pendulum models in pendulummodel.py (for N-d continiuous pendulum and 1-d discrete pendulum)
  • cozmo model in velocity or acceleration, with or with discretization, in cozmomodel.py

• Q-learning algorithm

  • Simple Q-table for discrete Cozmo in qtable.py
  • Deep Q-table, working for the pendulum but failing for Cozmo (dimension) in deeptable.py
  • Deep Q-learn, in qlearn.py, with the control model in qnetwork.py

• Application on Cozmo

  • simple example in cozmo_example.py
  • Cozmo interactive shell in cozmoshell.py
  • Control of cozmo using the Q-network learned above, in cozmocontrol.py

Read install.txt for the list of dependencies on Ubuntu 16.04.