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End-to-end Monocular Camera-to-hole Alignment via Deep RL

Overview

Overview

Simulation Environment

Simulator

Note: the x (red) and y (green) axes of the camera frame are opposite to the image coordinate frame.

Initialization test

The camera is initialized to random poses while maintaining the hole in the center of the image.

Initialization

Action test

Translation - x Translation - y Translation - z Rotation - x Rotation - x

Training Result

Training report on W&B

About

Visual reinforcement learning for camera-hole alignment

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