brown-ros-pkg

As part of the Robot Learning and Autonomy @ Brown (RLAB) I have helped work on the brown-ros-pkg. The brown-ros-pkg is a collection of software resourcs to help users new to robotics and ROS, Willow Garage's robot middleware system. The brown ros package can be found at: http://code.google.com/p/brown-ros-pkg/

rosglue

rosglue is a bridge between ROS and RL-Glue . rosglue is designed to enable RL researchers and roboticists work together rather than having to reimplement existing methods in both fields. A goal of rosglue is to allow ROS users to use RL algorithms provided by RL researchers and, likewise, to allow RL researchers to more easily use robots running ROS as a learning environment. rosglue allows a robot running ROS to become an RL-Glue environment allowing RL-Glue compatible agents to control the robot. More information on rosglue is available here: http://code.google.com/p/brown-ros-pkg/wiki/rosglue

Fourier Basis

George Konidaris and I worked on the Fourier Basis. RL-Glue-compatible code for this project can be found in the RL-Library.

The source code and project summary are available on the on the RL Library community wiki. The code is written in Java and is fully documented. (Apache License)

The Fourier Basis is described in:

• G.D. Konidaris and S. Osentoski. Value Function Approximation in Reinforcement Learning using the Fourier Basis. Technical Report UM-CS-2008-19, Department of Computer Science, University of Massachusetts Amherst, June 2008.