Hand Imitation | Somnath Kumar

RL-based learning for a robotic arm to imitate a given hand in a image feed with handOfJustice as our environment

To Setup

pip install gym-handOfJustice

else

git clone https://github.com/hex-plex/gym-handOfJustice
cd gym-handOfJustice
pip install -e .

To Train

we used Actor Critic technique to update the a CNN examples are RL-train.py and RL-Test.py

In RL-train we have built the Actor and the critic model using tensorflow
In RL-Test we have used stable-baselines SAC model with LnCnnpolicy policy

Dataset which we used consisted of 50,000 images that meant content for 50,000 episodes. to use the same it could be downloaded from the drive link
—-or—-

wget --no-check-certificate -r 'https://docs.google.com/uc?export=download&id=1YeJecxl8LDR_r3JAWfSbDP4X_klVQfrO' -O dataset.7z
pacman -Sy p7zip-full  
# Or any package manager you like
7z e dataset.7z

Training Metrics

The training was completed( only on ~50% of the dataset ) over a span 36 days. Special thanks to Center for Computing and Information Services, IIT (BHU) varanasi to provide the computational power i.e., the Compute Cluster. It ran for about 20,960 episodes making upto 20 Million steps. the following are the log of all the metrics.

Actor Loss	Critic Loss	Reward	Cummulative Reward

These results may look decent but we should keep in mind that what i have tried to do is a end to end model for a very complex and really having a few layers after a mobile net is surely not sufficient for learning the forward kinematics of a robotic arm and being able to estimate the pose of the arm in the image.

Output

These are the best result after training over a limited amount of time

Note we have used clips from different versions of trained model and environment so there is a edit on these clips that in the gym-handOfJustice==0.0.6 a flip in the environment was added to make feel of the robotic hand more mirror like which can be spotted in the gif files

Output-1 Output-2

The End

Thats all from our side

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The Team

_{Somnath Sendhil Kumar}

_{Yash Garg}

_{L N Saaswath}

_{Atul Kumar}