This assignment investigates the following main research question:
How to learn interpretable physical interaction policies using RL?
This will include:
• Design and implement the simulation learning environment in Isaac Lab.
• Investigate the proper MDP design (observations, actions, rewards, domain randomisation) for learning interpretable physical-interaction control policies.
• Investigate the proper feature library (e.g. polynomials, trigonometrics, etc) for learning a controller for this task.