Conditional Neural Movement Primitives

This branch includes PyTorch implementation. For Keras/Tensorflow implementation please refer to Keras branch

This repository includes the CNMP implementation and example material from the experiments of the paper:

M. Yunus Seker, Mert Imre, Justus Piater, Emre Ugur, Conditional Neural Movement Primitives, RSS 2019

What's New ?

• PyTorch implementation of the framework with:
  • Multi-step/whole-trajectory prediction support
  • Easier data/model organization with a more basic batch-based approach
  • Recreated Experiment 1 from the paper

Requirements:

• Python >=3.6

• Jupyter Notebook

• PyTorch >=1.6.0

Contact Information:

• M. Yunus Seker , m.yunusseker@hotmail.com, yunus.seker1@boun.edu.tr

• Mert Imre , mert.imre@boun.edu.tr

• Emre Ugur, emre.ugur@boun.edur.tr

Cite CNMP:

You can use the BibTex below to cite CNMP

@INPROCEEDINGS{Ugur-RSS-19,
    AUTHOR    = {Muhammet Yunus Seker AND Mert Imre AND Justus Piater AND Emre Ugur}, 
    TITLE     = {Conditional Neural Movement Primitives}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.071}}