Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: gym-gazebo2, a toolkit for reinforcement learning using ROS 2 and Gazebo   This paper presents an upgraded, real world application oriented version of
gym-gazebo, the Robot Operating System (ROS) and Gazebo based Reinforcement
Learning (RL) toolkit, which complies with OpenAI Gym. The content discusses
the new ROS 2 based software architecture and summarizes the results obtained
using Proximal Policy Optimization (PPO). Ultimately, the output of this work
presents a benchmarking system for robotics that allows different techniques
and algorithms to be compared using the same virtual conditions. We have
evaluated environments with different levels of complexity of the Modular
Articulated Robotic Arm (MARA), reaching accuracies in the millimeter scale.
The converged results show the feasibility and usefulness of the gym-gazebo 2
toolkit, its potential and applicability in industrial use cases, using modular
robots.

32
The categories of this paper are: atom-ph
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The categories of this paper are: plasm-ph
31
The categories of this paper are: ao-sci
36
The categories of this paper are: cmp-lg
13
The categories of this paper are: quant-ph
3
The categories of this paper are: physics
21
The categories of this paper are: adap-org
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th
16
The categories of this paper are: stat