PuzeLiu / rl_on_manifold
Robot Reinforcement Learning on the Constraint Manifold
☆50Updated 3 years ago
Alternatives and similar repositories for rl_on_manifold:
Users that are interested in rl_on_manifold are comparing it to the libraries listed below
- Code accompanying the paper: "Stable Motion Primitives via Imitation and Contrastive Learning" (T-RO).☆24Updated last year
- Sampling based model predictive control (MPC) using MuJoCo simulator☆34Updated 11 months ago
- Trajectory optimization algorithms for robotic control.☆108Updated 2 years ago
- An MPC algorithm which supports polytopic state and action constraints, using CEM optimisation.☆14Updated 5 years ago
- [NeurIPS 2021 DDM Workshop] A hybrid control strategy for combining deep RL and classical robotic controllers☆35Updated 2 years ago
- Cross Entropy Method implemented in pytorch☆36Updated 3 years ago
- Code for R:SS 2021 paper RMP2: A Structured Composable Policy Class for Robot Learning.☆36Updated 3 years ago
- gym RL environment in which a mujoco simulation of Agility Robotics' Cassie robot is rewarded for walking/running forward as fast as poss…☆31Updated last year
- Sampling-based model predictive control on GPU with JAX/MJX☆109Updated 2 months ago
- Learning Task-parametrized Riemannian Motion Policies from demonstrations.☆16Updated 2 years ago
- ☆68Updated 4 years ago
- IsaacGym environment for Trifinger robot☆42Updated 3 years ago
- Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments (CoRL 2020)☆75Updated 2 years ago
- Python implementation of VP-STO☆42Updated 7 months ago
- Multi-robot local motion planning using dynamic optimization fabrics.☆26Updated 7 months ago
- State-of-the-art method for model-based dexterous manipulation☆91Updated 7 months ago
- MuJoCo model of the Franka Emika Robot System☆55Updated last year
- Interactive Learning of Stiffness and Attractors, IROS 2021☆25Updated 10 months ago
- Iterative LQG for a couple of MuJoCo models☆59Updated 2 years ago
- Code of the paper "Interactive Learning of Temporal Feature for Control", published in the IEEE Robotics & Automation Magazine.☆12Updated 2 years ago
- Air Hockey Challenge☆37Updated 6 months ago
- Model Predictive Actor-Critic Reinforcement Learning☆59Updated 3 years ago
- Sequential motion planning algorithm for problems defined as a sequence of manifolds.☆27Updated 3 years ago
- Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations☆27Updated 7 months ago
- Learning for Task and Motion Planning (LTAMP)☆54Updated 3 years ago
- ☆51Updated this week
- A Contact-Implicit Trajectory Optimization Package☆42Updated last year
- A generic Python interface class for robot simulations using PyBullet. Also provides an IK interface for multi-end-effector robots that u…☆30Updated 7 months ago
- Code of the paper "LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning" & LocoMuJoCo Baselines☆47Updated last year
- Code for CoRL 2019 paper "TuneNet: One-Shot Residual Tuning for System Identification and Sim-to-Real Robot Task Transfer"☆24Updated 4 years ago