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

Code for DisCo: Remedy Self-supervised Learning on Lightweight Models with Distilled Contrastive Learning

Implement Decoupled Neural Interfaces using Synthetic Gradients in Pytorch

This repository contains the code for EMNLP-2021 paper "Word-Level Coreference Resolution"

CodeContests is a competitive programming dataset for machine-learning

Official PyTorch code for Hierarchical Conditional Flow: A Unified Framework for Image Super-Resolution and Image Rescaling (HCFlow, ICCV2021)

[ACL 20] Probing Linguistic Features of Sentence-level Representations in Neural Relation Extraction

Self-Supervised Deep Blind Video Super-Resolution

Neighbor2Seq: Deep Learning on Massive Graphs by Transforming Neighbors to Sequences

Dynamic vae - Dynamic VAE algorithm is used for anomaly detection of battery data

NVIDIA container runtime

Hunt down social media accounts by username across social networks

TaCL: Improving BERT Pre-training with Token-aware Contrastive Learning

Safe Model-Based Reinforcement Learning using Robust Control Barrier Functions

U-2-Net: U Square Net - Modified for paired image training of style transfer

Reviving Iterative Training with Mask Guidance for Interactive Segmentation

TVNet: Temporal Voting Network for Action Localization

Agent-based model simulator for air quality and pandemic risk assessment in architectural spaces

This is the code for HOI Transformer

PyTorch implementation of our ICCV 2021 paper, Interpretation of Emergent Communication in Heterogeneous Collaborative Embodied Agents.

BBB streaming without Xorg and Pulseaudio and Chromium and other nonsense (heavily WIP)

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

Code for DisCo: Remedy Self-supervised Learning on Lightweight Models with Distilled Contrastive Learning

Implement Decoupled Neural Interfaces using Synthetic Gradients in Pytorch

This repository contains the code for EMNLP-2021 paper "Word-Level Coreference Resolution"

CodeContests is a competitive programming dataset for machine-learning

Official PyTorch code for Hierarchical Conditional Flow: A Unified Framework for Image Super-Resolution and Image Rescaling (HCFlow, ICCV2021)

[ACL 20] Probing Linguistic Features of Sentence-level Representations in Neural Relation Extraction

Self-Supervised Deep Blind Video Super-Resolution

Neighbor2Seq: Deep Learning on Massive Graphs by Transforming Neighbors to Sequences

Dynamic vae - Dynamic VAE algorithm is used for anomaly detection of battery data

NVIDIA container runtime

Hunt down social media accounts by username across social networks

TaCL: Improving BERT Pre-training with Token-aware Contrastive Learning

Safe Model-Based Reinforcement Learning using Robust Control Barrier Functions

U-2-Net: U Square Net - Modified for paired image training of style transfer

Reviving Iterative Training with Mask Guidance for Interactive Segmentation

TVNet: Temporal Voting Network for Action Localization

Agent-based model simulator for air quality and pandemic risk assessment in architectural spaces

This is the code for HOI Transformer

PyTorch implementation of our ICCV 2021 paper, Interpretation of Emergent Communication in Heterogeneous Collaborative Embodied Agents.

BBB streaming without Xorg and Pulseaudio and Chromium and other nonsense (heavily WIP)

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