Robotics Library (RL)
dm_control
| Robotics Library (RL) | dm_control | |
|---|---|---|
| 2 | 7 | |
| 851 | 3,549 | |
| 2.0% | 1.6% | |
| 5.2 | 7.5 | |
| 2 months ago | 6 days ago | |
| C++ | Python | |
| BSD 2-clause "Simplified" License | Apache License 2.0 |
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Robotics Library (RL)
- Which is the best way to work with matrices and linear algebra using c++?
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Any beginner resources for RL in Robotics?
most go-to library https://github.com/roboticslibrary/rl
dm_control
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Shimmy 1.0: Gymnasium & PettingZoo bindings for popular external RL environments
This includes single-agent Gymnasium wrappers for DM Control, DM Lab, Behavior Suite, Arcade Learning Environment, OpenAI Gym V21 & V26. Multi-agent PettingZoo wrappers support DM Control Soccer, OpenSpiel and Melting Pot. For more information, read the release notes here:
Have you ever wanted to use dm-control with stable-baselines3? Within Reinforcement learning (RL), a number of APIs are used to implement environments, with limited ability to convert between them. This makes training agents across different APIs highly difficult, and has resulted in a fractured ecosystem.
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Installing & Using MuJoCo 2.1.5 with OpenAi Gym
Deepmind Control Suite is a good alternative to Open AI Gym for continuous control tasks. It contains many of the environments present in Gym and also a few extra ones. Deepmind Control Suite also uses Mujoco. I found the installation to be straightforward. Check out https://github.com/deepmind/dm_control
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Is there a way to get PPO controlled agents to move a little more gracefully?
Do you know if this is implemented in code anywhere? I've been digging around in DeepMind's dm_control for the past few hours and I haven't found it. I'm not sure what I'm looking for either.
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[D] MuJoCo vs PyBullet? (esp. for custom environment)
If you're interested in using Mujoco, I'd suggest checking out the dm_control package for Python bindings rather than interfacing with C++ directly. I think one downside to Mujoco currently is that you cannot dynamically add objects, and the entire simulation is initialized and loaded according to the MJCF / XML file.
- How to use MuJoCo from Python3
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Any beginner resources for RL in Robotics?
DeepMind's dm control: https://github.com/deepmind/dm_control
What are some alternatives?
ROS - Core ROS packages
gym - A toolkit for developing and comparing reinforcement learning algorithms.
moveit - :robot: The MoveIt motion planning framework
baselines - OpenAI Baselines: high-quality implementations of reinforcement learning algorithms
DART - DART: Dynamic Animation and Robotics Toolkit
IsaacGymEnvs - Isaac Gym Reinforcement Learning Environments
FCL - Flexible Collision Library
pytorch-a2c-ppo-acktr-gail - PyTorch implementation of Advantage Actor Critic (A2C), Proximal Policy Optimization (PPO), Scalable trust-region method for deep reinforcement learning using Kronecker-factored approximation (ACKTR) and Generative Adversarial Imitation Learning (GAIL).
PCL - Point Cloud Library (PCL)
mujoco-py - MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.
MRPT - :zap: The Mobile Robot Programming Toolkit (MRPT)
acme - A library of reinforcement learning components and agents