robert-verkuil / drake-pytorch

Combining pytorch (python and c++ bindings) with drake for neural network systems.

NNSystem files

• packaged cpp - cpp version of NNSystem
• packaged python - python version of NNSystem

Layout of other files

• cpp
  • torchlib_cpu - a snapshot of the torch compile work I had to do to make a shared lib I could link to drake
  • drake+pytorch - a drake shambala copy I'm using to compile custom drake c++ code with torch
• python
  • nn_system - python code for my neural network drake system, and related code
  • playgrounds - lot of jupyter notebooks that have been solely for experimentation
  • traj - python code useful for setting up trajectories
  • diagrams - diagrams, perf reports, etc... that I've cooked up
  • multiple_traj_opt.py - a big file where I've put a lot of my logic for setting up simulataneous, constrained optimization problems*
  • <all_other_files> - my scratchpad of recent work :p