Learning to Construct with Granules

Apply reinforcement learning to teach robots how to build structures with granular material.

Summary

• Built an agent-based physics simulator in Python to simulate multi-robot construction with granular material using Pymunk as the physics engine and Pygame for visualization.
• Developed a reinforcement learning training environment for the construction problem using OpenAI Gymnasium. Discovered optimal policies for several construction tasks using Stable Baselines3.