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

Denoising Diffusion Implicit Models

Official PyTorch implementation of Less is More: Pay Less Attention in Vision Transformers.

Code release for "Masked-attention Mask Transformer for Universal Image Segmentation"

SARS-Cov-2 Recombinant Finder for fasta sequences

Finite Element Analysis

Crosslingual Segmental Language Model

A package for "Procedural Content Generation via Reinforcement Learning" OpenAI Gym interface.

Springer Link Download Module for Python

PyTorch implementation of the Value Iteration Networks (VIN) (NIPS '16 best paper)

Algebraic effect handlers in Python

Sample code and notebooks for Vertex AI, the end-to-end machine learning platform on Google Cloud

A blender add-on that automatically re-aligns wrong axis objects.

A vision library for performing sliced inference on large images/small objects

(JMLR'19) A Python Toolbox for Scalable Outlier Detection (Anomaly Detection)

A mini lib that implements several useful functions binding to PyTorch in C++.

A clean and robust Pytorch implementation of PPO on continuous action space.

Machine Learning Framework for Operating Systems - Brings ML to Linux kernel

Sentinel-1 vessel detection model used in the xView3 challenge

Code for the Paper: Conditional Variational Capsule Network for Open Set Recognition

pip install python-office

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

Denoising Diffusion Implicit Models

Official PyTorch implementation of Less is More: Pay Less Attention in Vision Transformers.

Code release for "Masked-attention Mask Transformer for Universal Image Segmentation"

SARS-Cov-2 Recombinant Finder for fasta sequences

Finite Element Analysis

Crosslingual Segmental Language Model

A package for "Procedural Content Generation via Reinforcement Learning" OpenAI Gym interface.

Springer Link Download Module for Python

PyTorch implementation of the Value Iteration Networks (VIN) (NIPS '16 best paper)

Algebraic effect handlers in Python

Sample code and notebooks for Vertex AI, the end-to-end machine learning platform on Google Cloud

A blender add-on that automatically re-aligns wrong axis objects.

A vision library for performing sliced inference on large images/small objects

(JMLR'19) A Python Toolbox for Scalable Outlier Detection (Anomaly Detection)

A mini lib that implements several useful functions binding to PyTorch in C++.

A clean and robust Pytorch implementation of PPO on continuous action space.

Machine Learning Framework for Operating Systems - Brings ML to Linux kernel

Sentinel-1 vessel detection model used in the xView3 challenge

Code for the Paper: Conditional Variational Capsule Network for Open Set Recognition

pip install python-office

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