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

This is the code repository for the paper A hierarchical semantic segmentation framework for computer-vision-based bridge column damage detection

GNN-based Recommendation Benchma

A privacy-focused, intelligent security camera system.

[CVPR'20] TTSR: Learning Texture Transformer Network for Image Super-Resolution

Starter code for the ICCV 2021 paper, 'Detecting Invisible People'

Implementation of 'lightweight' GAN, proposed in ICLR 2021, in Pytorch. High resolution image generations that can be trained within a day or two

Official page of Struct-MDC (RA-L'22 with IROS'22 option); Depth completion from Visual-SLAM using point & line features

PFENet: Prior Guided Feature Enrichment Network for Few-shot Segmentation (TPAMI).

ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation.

Machine-in-the-Loop Rewriting for Creative Image Captioning

ESP32 python application to read data from a Tilt™ Hydrometer for homebrewing

Code for our paper: Online Variational Filtering and Parameter Learning

Repository of 3D Object Detection with Pointformer (CVPR2021)

This repository contains the needed resources to build the HIRID-ICU-Benchmark dataset

Library for implementing reservoir computing models (echo state networks) for multivariate time series classification and clustering.

Official Implementation of SimIPU: Simple 2D Image and 3D Point Cloud Unsupervised Pre-Training for Spatial-Aware Visual Representations

Single cell current best practices tutorial case study for the paper:Luecken and Theis, "Current best practices in single-cell RNA-seq analysis: a tutorial"

PyTorch implementation for the paper Visual Representation Learning with Self-Supervised Attention for Low-Label High-Data Regime

Enigma-Plus - Python based Enigma machine simulator with some extra features

PaddlePaddle GAN library, including lots of interesting applications like First-Order motion transfer, wav2lip, picture repair, image editing, photo2cartoon, image style transfer, and so on.

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

This is the code repository for the paper A hierarchical semantic segmentation framework for computer-vision-based bridge column damage detection

GNN-based Recommendation Benchma

A privacy-focused, intelligent security camera system.

[CVPR'20] TTSR: Learning Texture Transformer Network for Image Super-Resolution

Starter code for the ICCV 2021 paper, 'Detecting Invisible People'

Implementation of 'lightweight' GAN, proposed in ICLR 2021, in Pytorch. High resolution image generations that can be trained within a day or two

Official page of Struct-MDC (RA-L'22 with IROS'22 option); Depth completion from Visual-SLAM using point & line features

PFENet: Prior Guided Feature Enrichment Network for Few-shot Segmentation (TPAMI).

ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation.

Machine-in-the-Loop Rewriting for Creative Image Captioning

ESP32 python application to read data from a Tilt™ Hydrometer for homebrewing

Code for our paper: Online Variational Filtering and Parameter Learning

Repository of 3D Object Detection with Pointformer (CVPR2021)

This repository contains the needed resources to build the HIRID-ICU-Benchmark dataset

Library for implementing reservoir computing models (echo state networks) for multivariate time series classification and clustering.

Official Implementation of SimIPU: Simple 2D Image and 3D Point Cloud Unsupervised Pre-Training for Spatial-Aware Visual Representations

Single cell current best practices tutorial case study for the paper:Luecken and Theis, "Current best practices in single-cell RNA-seq analysis: a tutorial"

PyTorch implementation for the paper Visual Representation Learning with Self-Supervised Attention for Low-Label High-Data Regime

Enigma-Plus - Python based Enigma machine simulator with some extra features

PaddlePaddle GAN library, including lots of interesting applications like First-Order motion transfer, wav2lip, picture repair, image editing, photo2cartoon, image style transfer, and so on.

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