iexarchos

iexarchos.github.io

SoftRobotDesOpt

Optimization of the design and configuration of a soft robot to reach several targets (w/ prescribed end-effector orientations) using Adaptive Stochastic Search.

PolicyTransferKinDRA

Code for ICRA2021 "Policy Transfer via Kinematic Domain Randomization and Adaptation"

NOVAS

Code for ICLR2021 "NOVAS: non-convex optimization via adaptive stochastic search for end-to-end learning and control"

DiffDART_DDP-iLQR_opt

Implementation of iLQR/DDP for a variety of DiffDART environments

stoch_traj_opt

Algorithm for sampling-based stochastic trajectory optimization

A1KinDomainRand

Code employing Kinematic Domain Randomization (https://arxiv.org/abs/2011.01891) on the A1 robot using Google's motion-imitation env