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Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

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dmp_primitives_pytorch

Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

TODOs

  • Code the DMP part in a interpretable way.
  • Batched CEM optimization for DMPs
  • Code differentiable Linear Dynamic Systems (dLDS).
  • Code Cubic Splines
  • CEM optimization for dLDS and cubic splines.
  • Neural output code for training dLDS, splines and DMPs.
  • A very simple colab tutorial for introducing these primitives.

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Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.

Topics

robotics planning linear-dynamical-systems dynamic-motion-primitives cross-entropy-method motion-primitives motion-prior cross-entropy-method-pytorch

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