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Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

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Name		Name	Last commit message	Last commit date
Latest commit History 9 Commits
LICENSE		LICENSE
README.md		README.md
cem_dmp.py		cem_dmp.py
dLDS.py		dLDS.py
dmps.py		dmps.py

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dmp_primitives_pytorch

Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

TODOs

Code the DMP part in a interpretable way.
Batched CEM optimization for DMPs
Code differentiable Linear Dynamic Systems (dLDS).
Code Cubic Splines
CEM optimization for dLDS and cubic splines.
Neural output code for training dLDS, splines and DMPs.
A very simple colab tutorial for introducing these primitives.

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Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

robotics planning linear-dynamical-systems dynamic-motion-primitives cross-entropy-method motion-primitives motion-prior cross-entropy-method-pytorch

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