Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

Related tags

Deep Learningstorm
Overview

STORM

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

[Install Instructions] [Paper] [Website]

This package contains code for reactive robot motion leveraging parallel compute on the GPU. The implemented control framework leverages MPPI to optimize over sampled actions and their costs. The costs are computed by rolling out the forward model from the current state with the sampled actions.

Most files are documented with sphinx. Once you clone this repo, go into docs folder and run sh generate_docs.sh to generate documentation.

Citation

If you use this source code, please cite the below article,

@article{storm2021,
  title={Fast Joint Space Model-Predictive Control for Reactive Manipulation},
  author={Mohak Bhardwaj and Balakumar Sundaralingam and Arsalan Mousavian and Nathan Ratliff and Dieter Fox and Fabio Ramos and Byron Boots},
  journal={arXiv preprint},
  year={2021}
}

Contributing to this code

Refer to CLA before making contributions.

Owner
NVIDIA Research Projects
NVIDIA Research Projects
Iran Open Source Hackathon

Iran Open Source Hackathon is an open-source hackathon (duh) with the aim of encouraging participation in open-source contribution amongst Iranian dev

OSS Hackathon 121 Dec 25, 2022
Official implementation for the paper: Generating Smooth Pose Sequences for Diverse Human Motion Prediction

Generating Smooth Pose Sequences for Diverse Human Motion Prediction This is official implementation for the paper Generating Smooth Pose Sequences fo

Wei Mao 28 Dec 10, 2022
Experiments and code to generate the GINC small-scale in-context learning dataset from "An Explanation for In-context Learning as Implicit Bayesian Inference"

GINC small-scale in-context learning dataset GINC (Generative In-Context learning Dataset) is a small-scale synthetic dataset for studying in-context

P-Lambda 29 Dec 19, 2022
The code is an implementation of Feedback Convolutional Neural Network for Visual Localization and Segmentation.

Feedback Convolutional Neural Network for Visual Localization and Segmentation The code is an implementation of Feedback Convolutional Neural Network

19 Dec 04, 2022
[CVPR 2022 Oral] Balanced MSE for Imbalanced Visual Regression https://arxiv.org/abs/2203.16427

Balanced MSE Code for the paper: Balanced MSE for Imbalanced Visual Regression Jiawei Ren, Mingyuan Zhang, Cunjun Yu, Ziwei Liu CVPR 2022 (Oral) News

Jiawei Ren 267 Jan 01, 2023
Reinforcement learning library(framework) designed for PyTorch, implements DQN, DDPG, A2C, PPO, SAC, MADDPG, A3C, APEX, IMPALA ...

Automatic, Readable, Reusable, Extendable Machin is a reinforcement library designed for pytorch. Build status Platform Status Linux Windows Supported

Iffi 348 Dec 24, 2022
SVG Icon processing tool for C++

BAWR This is a tool to automate the icons generation from sets of svg files into fonts and atlases. The main purpose of this tool is to add it to the

Frank David Martínez M 66 Dec 14, 2022
A Joint Video and Image Encoder for End-to-End Retrieval

Frozen️ in Time ❄️ ️️️️ ⏳ A Joint Video and Image Encoder for End-to-End Retrieval project page | arXiv | webvid-data Repository containing the code,

225 Dec 25, 2022
ImageNet-CoG is a benchmark for concept generalization. It provides a full evaluation framework for pre-trained visual representations which measure how well they generalize to unseen concepts.

The ImageNet-CoG Benchmark Project Website Paper (arXiv) Code repository for the ImageNet-CoG Benchmark introduced in the paper "Concept Generalizatio

NAVER 23 Oct 09, 2022
Privacy-Preserving Portrait Matting [ACM MM-21]

Privacy-Preserving Portrait Matting [ACM MM-21] This is the official repository of the paper Privacy-Preserving Portrait Matting. Jizhizi Li∗, Sihan M

Jizhizi_Li 212 Dec 27, 2022
A light and fast one class detection framework for edge devices. We provide face detector, head detector, pedestrian detector, vehicle detector......

A Light and Fast Face Detector for Edge Devices Big News: LFD, which is a big update of LFFD, now is released (2021.03.09). It is strongly recommended

YonghaoHe 1.3k Dec 25, 2022
Self-Supervised Monocular 3D Face Reconstruction by Occlusion-Aware Multi-view Geometry Consistency[ECCV 2020]

Self-Supervised Monocular 3D Face Reconstruction by Occlusion-Aware Multi-view Geometry Consistency(ECCV 2020) This is an official python implementati

304 Jan 03, 2023
Neural Style and MSG-Net

PyTorch-Style-Transfer This repo provides PyTorch Implementation of MSG-Net (ours) and Neural Style (Gatys et al. CVPR 2016), which has been included

Hang Zhang 904 Dec 21, 2022
Neural Module Network for VQA in Pytorch

Neural Module Network (NMN) for VQA in Pytorch Note: This is NOT an official repository for Neural Module Networks. NMN is a network that is assembled

Harsh Trivedi 111 Nov 24, 2022
Code for paper: "Spinning Language Models for Propaganda-As-A-Service"

Spinning Language Models for Propaganda-As-A-Service This is the source code for the Arxiv version of the paper. You can use this Google Colab to expl

Eugene Bagdasaryan 16 Jan 03, 2023
Official Implementation of SWAD (NeurIPS 2021)

SWAD: Domain Generalization by Seeking Flat Minima (NeurIPS'21) Official PyTorch implementation of SWAD: Domain Generalization by Seeking Flat Minima.

Junbum Cha 97 Dec 20, 2022
Minimal fastai code needed for working with pytorch

fastai_minima A mimal version of fastai with the barebones needed to work with Pytorch #all_slow Install pip install fastai_minima How to use This lib

Zachary Mueller 14 Oct 21, 2022
[NeurIPS'20] Multiscale Deep Equilibrium Models

Multiscale Deep Equilibrium Models 💥 💥 💥 💥 This repo is deprecated and we will soon stop actively maintaining it, as a more up-to-date (and simple

CMU Locus Lab 221 Dec 26, 2022
Simple and understandable swin-transformer OCR project

swin-transformer-ocr ocr with swin-transformer Overview Simple and understandable swin-transformer OCR project. The model in this repository heavily r

Ha YongWook 67 Dec 31, 2022
Improving the robustness and performance of biomedical NLP models through adversarial training

RobustBioNLP Improving the robustness and performance of biomedical NLP models through adversarial training In this repository you can find suppliment

Milad Moradi 3 Sep 20, 2022