ykim104 / udacityRoboND

udacityRoboND

Localization

• Textbook Probabilistic Robotics [link]
• Udacity AI for Robotics [link]
• Robust Monte Carlo Localization for Mobile Robots. Sebastian Thrun. [link]

Mapping

• ROS slam_gmapping [link]
• A Tutorial on Graph-Based SLAM, Grisetti [link]
• GraphSLAM, Thrun [link]
• RTAB-MAP Parameter Tutorial [link]

Resources

• roswtf
• tf library
• rqt console
• RTAB-MAP wiki ros
• Turtlebot Mapping
• ROS Kobuki
• ROS depthimage to laserscan

Reinforcement Learning

• Notation CheatSheet [link]
• Textbook by Richard S. Sutton and Andrew G. Barto [link]

Applications

• TD_Gammon [link]
• Alphago Zero [link]
• Atari Games [link]
• Dota 2 [link]
• Self-Driving Cars [link]
• Telecommunication [link]
• Inventory Management [link]

Q Learning

• Convergence of Optimistic and Incremental Q-Learning [link]

Deep RL

• Deep Learning in a Nutshell: Reinforcement Learning [link]
• Neural fitted Q iteration. Riedmiller, Martin. [link]
• DQN. Human-level control through deep RL. Minh et al. [link]
• Experience Replay. RL for robots using neural networks. Long-Ji Lin. [link]

Deep RL Manipulator

• NVIDIA jetson reinforcement open source project [link]
• NVIDIA ROS Deep Learning Node [link]

Resources

• Pytorch
• OpenAI Gym
• ROS Contact Sensor Tutorial [link]
• ROS Contact Sensor API [link]

Path Planning and Navigation

Classic Path Planning

• Minkowski sums and differences [link]
• Collions in video games [link]
• Configuration Space Visualization [link]
• Heuristics [link]
• Path Finding Visualization [link]
• MovingAI A* Variants [link]
• Variants of A* [link]

Sample-based and Probabilistic Path Planning

• A Comparative Study of Probabilistic Roadmap Planners [link]
• Path planning for Non-Circular Mico Aerial Vehicles in Constrained Environment [link]

Navigation with Deep RL

• Learning to navigate in complex environments. Mirowski, Piotr [link]
• RL with unsupervised auxiliary tasks. DeepMind [link]
• Asynchronous methods for DRL. Mnih, Volodymyr. [link]
• Simple RL with Tensorflow: A3C. [link]
• A brief survey of Deep RL. Arulkumaran, Kai et al. [link]
• Self-supervised Deep Reinforcement Learning with Generalized Compuation Graphs for Robot Navigation. Kahn, Gregoary, et al. [link]
• Target-driven visual navigation in indoor scenes using Deep RL. Zhu, Yuke, et al. [link]

Resources

• OpenAI Ingredients for Robotic Research [link]
• OpenAI Systems [link]
• ROS Gmapping [link]
• ROS map-server [link]
• ROS Writing a Global Path Planner [link]
• ROS Marker [link]
• ROS Navigation [link]
• ROS Map Server [link]
• ROS Gmapping [link]