DeepMind Robotics

Libraries, tools and tasks created and used at DeepMind Robotics.

Package overview

Package	Summary
Transformations	Rigid body transformations
Geometry	Scene and Robot geometry primitives
Vision	Visual blob detection and tracking
AgentFlow	Reinforcement Learning agent composition library
Manipulation	"RGB" object meshes for manipulation tasks
MoMa	Manipulation environment definition library, for simulated and real robots
Controllers	QP-optimization based cartesian controller
Controller Bindings	Python bindings for the controller
Least Squares QP	QP task definition and solver

Installation

These libraries are distributed on PyPI, the packages are:

dm_robotics-transformations
dm_robotics-geometry
dm_robotics-vision
dm_robotics-agentflow
dm_robotics-manipulation
dm_robotics-moma
dm_robotics-controllers

Dependencies

MoMa, Manipulation and Controllers depend on MuJoCo, the other packages do not. See the individual packages for more information on their dependencies.

Building

To build and test the libraries, run build.sh. This script assumes:

MuJoCo is installed and licensed.
dm_control is installed.
cmake version >= 3.20.2 is installed.
Python 3.6 ,3.7 or 3.8 and system headers are installed.
GCC version 9 or later is installed.
numpy is installed.

The Python libraries are tested with tox, the C++ code is built and tested with cmake.

Tox's distshare mechanism is used to share the built source distribution packages between the packages.

Libraries, tools and tasks created and used at DeepMind Robotics.

Related tags

Overview

DeepMind Robotics

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Edge-oriented Convolution Block for Real-time Super Resolution on Mobile Devices, ACM Multimedia 2021

Peek-a-Boo: What (More) is Disguised in a Randomly Weighted Neural Network, and How to Find It Efficiently

Council-GAN - Implementation for our paper Breaking the Cycle - Colleagues are all you need (CVPR 2020)

Code for ICCV 2021 paper "HuMoR: 3D Human Motion Model for Robust Pose Estimation"

[ACM MM 2021] Multiview Detection with Shadow Transformer (and View-Coherent Data Augmentation)

Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion (CVPR 2021)

Fine-Tune EleutherAI GPT-Neo to Generate Netflix Movie Descriptions in Only 47 Lines of Code Using Hugginface And DeepSpeed

Code for IntraQ, PyTorch implementation of our paper under review

A PyTorch implementation of "From Two to One: A New Scene Text Recognizer with Visual Language Modeling Network" (ICCV2021)

ADOP: Approximate Differentiable One-Pixel Point Rendering

Apply a perspective transformation to a raster image inside Inkscape (no need to use an external software such as GIMP or Krita).

EncT5: Fine-tuning T5 Encoder for Non-autoregressive Tasks

Direct design of biquad filter cascades with deep learning by sampling random polynomials.

INSPIRED: A Transparent Dialogue Dataset for Interactive Semantic Parsing

Much faster than SORT(Simple Online and Realtime Tracking), a little worse than SORT

Source code for the paper "Periodic Traveling Waves in an Integro-Difference Equation With Non-Monotonic Growth and Strong Allee Effect"

R3Det based on mmdet 2.19.0

JAX-based neural network library

Learning Neural Network Subspaces

Robotics with GPU computing