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