20.500.12556/RUL-164875 Teaching approach for deep reinforcement learning of robotic strategies This paper presents the development of a teaching approach for Reinforcement Learning (RL) for students at the Faculty of Electrical Engineering, University of Ljubljana. The approach is designed to introduce students to the basic concepts, approaches, and algorithms of RL through examples and experiments in both simulation environments and on a real robot. The approach includes practical programs written in Python and presents various RL algorithms. The Q-learning algorithm is introduced and a deep Q network is implemented to introduce the use of neural networks in deep RL. The software is user-friendly and allows easy modification of learning parameters, reward functions, and algorithms. The approach was tested successfully on a Franka Emika Panda robot, where the robot manipulator learned to move to a randomly generated target position, shoot a real ball into the goal, and push various objects into target position. The goal of the presented teaching approach is to serve as a study aid for future generations of students of robotics to help them better understand the basic concepts of RL and apply them to a wide variety of problems. augmented reality reinforcement learning robotics education sensors obogatena resničnost spodbujevalno okolje izobraževanje robotike senzorji true false true Angleški jezik Slovenski jezik Članek v reviji 2024-11-14 14:23:11 2024-11-14 14:23:17 2024-11-22 14:56:29 0000-00-00 00:00:00 2024 0 0 16 str. iss. 6, art. e22780 Vol. 32 2024 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:37.091.3 1099-0542 10.1002/cae.22780 202411267 Comp_Applic_In_Engineering_-_2024_-_Podobnik_-_Teaching_approach_for_deep_reinforcement_learning_of_robotic_strategies.pdf Comp_Applic_In_Engineering_-_2024_-_Podobnik_-_Teaching_approach_for_deep_reinforcement_learning_of_robotic_strategies.pdf 1 CC58E6EC55F39C4F6DC0D701591D5A47 340efe99474afe0c618de4408d804eae632e95d0c4a2e0c9288eaac60d8f90ac 8225d823-a28b-11ef-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=195686 https://onlinelibrary.wiley.com/doi/10.1002/cae.22780 1 3e88d3b9-a28b-11ef-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=195685 Fakulteta za elektrotehniko 0 0 0