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

Last update: Jan 06, 2023

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Overview

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

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

Python versions 3.7, 3.8 and 3.9 are supported.

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.
dm_control is installed.
cmake version >= 3.20.2 is installed.
Python 3.7, 3.8 or 3.9 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

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Posterior temperature optimized Bayesian models for inverse problems in medical imaging

Systematic generalisation with group invariant predictions

Code for paper "Learning to Reweight Examples for Robust Deep Learning"

Efficient training of deep recommenders on cloud.

Implementation of SegNet: A Deep Convolutional Encoder-Decoder Architecture for Semantic Pixel-Wise Labelling

Material for my PyConDE & PyData Berlin 2022 Talk "5 Steps to Speed Up Your Data-Analysis on a Single Core"

a pytorch implementation of auto-punctuation learned character by character

Team nan solution repository for FPT data-centric competition. Data augmentation, Albumentation, Mosaic, Visualization, KNN application

Face and Body Tracking for VRM 3D models on the web.

The code of "Dependency Learning for Legal Judgment Prediction with a Unified Text-to-Text Transformer".

Implementation for Shape from Polarization for Complex Scenes in the Wild

CIFS: Improving Adversarial Robustness of CNNs via Channel-wise Importance-based Feature Selection

Anime Face Detector using mmdet and mmpose

Code for Two-stage Identifier: "Locate and Label: A Two-stage Identifier for Nested Named Entity Recognition"

Bayesian-Torch is a library of neural network layers and utilities extending the core of PyTorch to enable the user to perform stochastic variational inference in Bayesian deep neural networks

An implementation of chunked, compressed, N-dimensional arrays for Python.

Phy-Q: A Benchmark for Physical Reasoning

Pytorch implementation for "Implicit Feature Alignment: Learn to Convert Text Recognizer to Text Spotter".

Luminous is a framework for testing the performance of Embodied AI (EAI) models in indoor tasks.

This repository is the offical Pytorch implementation of ContextPose: Context Modeling in 3D Human Pose Estimation: A Unified Perspective (CVPR 2021).

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

Related tags

Overview

dm_robotics: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Posterior temperature optimized Bayesian models for inverse problems in medical imaging

Systematic generalisation with group invariant predictions

Code for paper "Learning to Reweight Examples for Robust Deep Learning"

Efficient training of deep recommenders on cloud.

Implementation of SegNet: A Deep Convolutional Encoder-Decoder Architecture for Semantic Pixel-Wise Labelling

Material for my PyConDE & PyData Berlin 2022 Talk "5 Steps to Speed Up Your Data-Analysis on a Single Core"

a pytorch implementation of auto-punctuation learned character by character

Team nan solution repository for FPT data-centric competition. Data augmentation, Albumentation, Mosaic, Visualization, KNN application

Face and Body Tracking for VRM 3D models on the web.

The code of "Dependency Learning for Legal Judgment Prediction with a Unified Text-to-Text Transformer".

Implementation for Shape from Polarization for Complex Scenes in the Wild

CIFS: Improving Adversarial Robustness of CNNs via Channel-wise Importance-based Feature Selection

Anime Face Detector using mmdet and mmpose

Code for Two-stage Identifier: "Locate and Label: A Two-stage Identifier for Nested Named Entity Recognition"

Bayesian-Torch is a library of neural network layers and utilities extending the core of PyTorch to enable the user to perform stochastic variational inference in Bayesian deep neural networks

An implementation of chunked, compressed, N-dimensional arrays for Python.

Phy-Q: A Benchmark for Physical Reasoning

Pytorch implementation for "Implicit Feature Alignment: Learn to Convert Text Recognizer to Text Spotter".

Luminous is a framework for testing the performance of Embodied AI (EAI) models in indoor tasks.

This repository is the offical Pytorch implementation of ContextPose: Context Modeling in 3D Human Pose Estimation: A Unified Perspective (CVPR 2021).

`dm_robotics`: Libraries, tools, and tasks created and used for Robotics research at DeepMind.