Tensorflow robot learning library
Author : Emmanuel Pignat, emmanuel.pignat@gmail.com
If you find these codes useful, you can acknowledge the authors by citing the following paper (Click here to download pdf):
@inproceedings{Pignat20CORL,
author="Pignat, E. and Girgin, H. and Calinon, S.",
title="Generative Adversarial Training of Product of Policies for Robust and Adaptive Movement Primitives",
booktitle="Proc.\ Conference on Robot Learning ({CoRL})",
year="2020",
pages=""
}
How to install
Is compatible with python 2 and 3, tensorflow 1 and 2
git clone https://gitlab.idiap.ch/rli/tf_robot_learning.git
cd tf_robot_learning
pip install -e .
Install jupyter kernels
python2 -m pip install ipykernel
python2 -m ipykernel install --user
python3 -m pip install ipykernel
python3 -m ipykernel install --user
Notebooks
cd [...]/tf_robot_learning/notebooks
jupyter notebook
Then navigate through folders and click on desired notebook.
| Filename | Description |
|---|---|
| gamp/gamp_time_dependant_mvn_discriminator.ipynb | Simplest example. |
| gamp/gamp_time_dependant_dynamics_learning_ensemble.ipynb | Learning NN dynamics with ensemble network. |
| gamp/gamp_panda.ipynb | Acceleration PoE policy on Panda robot. |
URDF PARSER
The folder tf_robot_learning/kinematic/utils/urdf_parser_py is adapted from https://github.com/ros/urdf_parser_py. The authors of this code are:
- Thomas Moulard - urdfpy implementation, integration
- David Lu - urdf_python implementation, integration
- Kelsey Hawkins - urdf_parser_python implementation, integration
- Antonio El Khoury - bugfixes
- Eric Cousineau - reflection update