Libraries, tools and tasks created and used at DeepMind Robotics.

Last update: Jan 06, 2023

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Overview

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

Package	Summary
Transformations	Rigid body transformations
Geometry	Scene and Robot geometry primitives
Vision	Visual blob detection and tracking
AgentFlow	Reinforcement Learning agent composition library
Manipulation	"RGB" object meshes for manipulation tasks
MoMa	Manipulation environment definition library, for simulated and real robots
Controllers	QP-optimization based cartesian controller
Controller Bindings	Python bindings for the controller
Least Squares QP	QP task definition and solver

Installation

These libraries are distributed on PyPI, the packages are:

dm_robotics-transformations
dm_robotics-geometry
dm_robotics-vision
dm_robotics-agentflow
dm_robotics-manipulation
dm_robotics-moma
dm_robotics-controllers

Python versions 3.7, 3.8 and 3.9 are supported.

Dependencies

MoMa, Manipulation and Controllers depend on MuJoCo, the other packages do not. See the individual packages for more information on their dependencies.

Building

To build and test the libraries, run build.sh. This script assumes:

MuJoCo is installed.
dm_control is installed.
cmake version >= 3.20.2 is installed.
Python 3.7, 3.8 or 3.9 and system headers are installed.
GCC version 9 or later is installed.
numpy is installed.

The Python libraries are tested with tox, the C++ code is built and tested with cmake.

Tox's distshare mechanism is used to share the built source distribution packages between the packages.

Libraries, tools and tasks created and used at DeepMind Robotics.

Related tags

Overview

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Minimal diffusion models - Minimal code and simple experiments to play with Denoising Diffusion Probabilistic Models (DDPMs)

Official implementation of the MM'21 paper Constrained Graphic Layout Generation via Latent Optimization

Llvlir - Low Level Variable Length Intermediate Representation

The Instructed Glacier Model (IGM)

Source Code for our paper: Understand me, if you refer to Aspect Knowledge: Knowledge-aware Gated Recurrent Memory Network

Codes and models for the paper "Learning Unknown from Correlations: Graph Neural Network for Inter-novel-protein Interaction Prediction".

Implementation of the Paper: "Parameterized Hypercomplex Graph Neural Networks for Graph Classification" by Tuan Le, Marco Bertolini, Frank Noé and Djork-Arné Clevert

Segmentation models with pretrained backbones. PyTorch.

Implementation of Enformer, Deepmind's attention network for predicting gene expression, in Pytorch

Unofficial implementation of the paper: PonderNet: Learning to Ponder in TensorFlow

Born-Infeld (BI) for AI: Energy-Conserving Descent (ECD) for Optimization

(CVPR 2022 Oral) Official implementation for "Surface Representation for Point Clouds"

Painting app using Python machine learning and vision technology.

An introduction to satellite image analysis using Python + OpenCV and JavaScript + Google Earth Engine

Code for BMVC2021 paper "Boundary Guided Context Aggregation for Semantic Segmentation"

Light-SERNet: A lightweight fully convolutional neural network for speech emotion recognition

Stacked Generative Adversarial Networks

Vision Transformer and MLP-Mixer Architectures

Audio Visual Emotion Recognition using TDA

CLIP: Connecting Text and Image (Learning Transferable Visual Models From Natural Language Supervision)

Libraries, tools and tasks created and used at DeepMind Robotics.

Related tags

Overview

dm_robotics: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Minimal diffusion models - Minimal code and simple experiments to play with Denoising Diffusion Probabilistic Models (DDPMs)

Official implementation of the MM'21 paper Constrained Graphic Layout Generation via Latent Optimization

Llvlir - Low Level Variable Length Intermediate Representation

The Instructed Glacier Model (IGM)

Source Code for our paper: Understand me, if you refer to Aspect Knowledge: Knowledge-aware Gated Recurrent Memory Network

Codes and models for the paper "Learning Unknown from Correlations: Graph Neural Network for Inter-novel-protein Interaction Prediction".

Implementation of the Paper: "Parameterized Hypercomplex Graph Neural Networks for Graph Classification" by Tuan Le, Marco Bertolini, Frank Noé and Djork-Arné Clevert

Segmentation models with pretrained backbones. PyTorch.

Implementation of Enformer, Deepmind's attention network for predicting gene expression, in Pytorch

Unofficial implementation of the paper: PonderNet: Learning to Ponder in TensorFlow

Born-Infeld (BI) for AI: Energy-Conserving Descent (ECD) for Optimization

(CVPR 2022 Oral) Official implementation for "Surface Representation for Point Clouds"

Painting app using Python machine learning and vision technology.

An introduction to satellite image analysis using Python + OpenCV and JavaScript + Google Earth Engine

Code for BMVC2021 paper "Boundary Guided Context Aggregation for Semantic Segmentation"

Light-SERNet: A lightweight fully convolutional neural network for speech emotion recognition

Stacked Generative Adversarial Networks

Vision Transformer and MLP-Mixer Architectures

Audio Visual Emotion Recognition using TDA

CLIP: Connecting Text and Image (Learning Transferable Visual Models From Natural Language Supervision)

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.