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CompletedRL & RoboticsMultidisciplinary team
Waste-Sorting Conveyor
PPO agent controlling a robotic conveyor for colour-based waste sorting. Cross-disciplinary collaboration (AI, electronics, mechanics) with ROS integration for real-time communication.
95 %
Colour sorting accuracy
Stack
PythonPPOStable-Baselines3OpenAI GymPyTorchROSTensorBoard
- Adapting the RL algorithm to a real robotic environment with noise and uncertainties
- Synchronising the AI with the mechanical and electronic systems
- Moving from a discrete action space (DQN) to a continuous action space (PPO) for finer control
- PPO with domain randomisation to improve robustness
- Integrating a real-time colour detection sensor
- ROS interface for real-time communication between robotic components
- Automated sorting system reaching 95% colour accuracy
- One object processed per sequence of 65 conveyor steps, at 10 mm/s
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