A 4DOF Keyestudio KS0198X robotic arm (clone of the open-hardware MeArm v0.4 project) trained in simulation using reinforcement learning to reach a target, and transferred via serial to the physical arm.

Task: reach — moving the tip of the arm (tool) towards a red dot generated within the arm's real workspace (fixed radius of 15cm in front of the base, height 0-6.5cm), using PPO (Proximal Policy Optimization, Stable-Baselines3) on a PyBullet model built from the real URDF/meshes of the mechanism. Take a look to my GitHub for code and more! (https://www.youtube.com/shorts/WyPsStVqxFM)