[ros-users] rosglue: a RL-Glue/ ROS bridge

[Sarah Osentoski]

Brown is pleased to announce our beta version of rosglue.  rosglue is  
a bridge between ROS and RL-Glue (http://glue.rl-community.org/wiki/ 
Main_Page    http://library.rl-community.org/wiki/Main_Page ), a  
standard reinforcement learning (RL) framework.

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.  A high  
level visualization of the framework can be seen at this link: http:// 
www.flickr.com/photos/brownrobotics/4924345564/

rosglue uses a yaml configuration file to specify the topics and  
services and the learning problem.  rosglue automatically subscribes  
to the topics and services specified in the file.  rosglue sends  
actions selected to the RL-Glue to the robot using the appropriate  
topic or service.  It then creates observations from specified topics  
for the RL-Glue agent.

rosglue is currently available for download from the brown-ros-pkg  
repository (http://code.google.com/p/brown-ros-pkg/) via:

svn co https://brown-ros-pkg.googlecode.com/svn/trunk/experimental/ 
rlrobot/rosglue rosglue

and preliminary documentation can be found here:

http://code.google.com/p/brown-ros-pkg/wiki/rosglue

Robot Learning and Autonomy @ Brown (RLAB)




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