An Autonomous Robot for Self-Closing Door Opening

This is gazebo simulation for the designed mobile robot which can open a self-closing door using equipped cameras and force sensors. The force-vision fusion based control policy for door opening was trained using PPO. Find more details in [Sun, Yufeng, Lin Zhang, and Ou Ma. “Force-Vision Sensor Fusion Improves Learning-based Approach for Self-Closing Door Pulling.“ IEEE Access (2021).]