Sim-to-real reinforcement learning applied to soft quadrupedal gait optimization.
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Updated
Apr 17, 2023 - Python
Sim-to-real reinforcement learning applied to soft quadrupedal gait optimization.
This is the official repository for the GECCO (Genetic and Evolutionary Computation Conference, 2022) paper "A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots". This repository hosts all the code necessary to replicate the experiments. This work was carried out at Ghent University IDLab-AIRO.
HeteroMorpheus: Universal Control Based on Morphological Heterogeneity Modeling
Source code for "Evolution of Adaptive Force Chains in Reconfigurable Granular Metamaterials"
Code for "Evolving Variable Stiffness Fiber Patterns for Multi-shape Robotic Sheets", Parsa et al., Robosoft 2023
A rudimentary SOFA application that uses an open-source framework to target real-time robotics simulation, with an emphasis on medical schemas.
A plugin to PyElastica for the simulation of robots based on Handed Shearing Auxetics (HSAs).
This is the official repository for the GECCO paper "Morphology Choice Affects the Evolution of Affordance Detection in Robots".
Code and datasets corresponding to the paper "Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation" presented at RoboSoft 2023.
Implements the Selective Piecewise Constant Strain (SPCS) approach to model the kinematics of continuum soft robots.
Simulation framework for electroactive robotic sheet
This is the official repository for the ALIFE paper "Shape Change and Control of Pressure-based Soft Agents" and its Artificial Life journal extension "Pressure-based Soft Agents".
An implementation of using rl to control magnetic soft robots.
Code for "Evolution and learning in differentiable robots", Strgar et al, proceedings of Robotics: Science and Systems 2024
Enabling Faster Training of Robust Reinforcement Learning Policies for Soft Robots
[RA-L/ICRA2020] Real-time Soft Body 3D Proprioception via Deep Vision-based Sensing
Argenomic is a quality-diversity (or illumination) algorithm for optimization of small organic molecules.
A large-scale benchmark for co-optimizing the design and control of soft robots, as seen in NeurIPS 2021.
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