DeepMind Robotics

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

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

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 and licensed.
dm_control is installed.
cmake version >= 3.20.2 is installed.
Python 3.6 ,3.7 or 3.8 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

DeepMind Robotics

Package overview

Installation

Dependencies

Building

Owner

DeepMind

Official Pytorch implementation of 'GOCor: Bringing Globally Optimized Correspondence Volumes into Your Neural Network' (NeurIPS 2020)

SegNet including indices pooling for Semantic Segmentation with tensorflow and keras

EigenGAN Tensorflow, EigenGAN: Layer-Wise Eigen-Learning for GANs

Qlib is an AI-oriented quantitative investment platform

Tensorflow Implementation of ECCV'18 paper: Multimodal Human Motion Synthesis

Pytorch Implementation of "Diagonal Attention and Style-based GAN for Content-Style disentanglement in image generation and translation" (ICCV 2021)

Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation

Bunch of different tools which helps visualizing and annotating images for semantic/instance segmentation tasks

Official repository with code and data accompanying the NAACL 2021 paper "Hurdles to Progress in Long-form Question Answering" (https://arxiv.org/abs/2103.06332).

MODNet: Trimap-Free Portrait Matting in Real Time

Fastshap: A fast, approximate shap kernel

TCTrack: Temporal Contexts for Aerial Tracking (CVPR2022)

Learning Versatile Neural Architectures by Propagating Network Codes

DeceFL: A Principled Decentralized Federated Learning Framework

NeROIC: Neural Object Capture and Rendering from Online Image Collections

Implementation for On Provable Benefits of Depth in Training Graph Convolutional Networks

Code to replicate the key results from Exploring the Limits of Out-of-Distribution Detection

Simple ray intersection library similar to coldet - succedeed by libacc

SEAN: Image Synthesis with Semantic Region-Adaptive Normalization (CVPR 2020, Oral)

Code and data for ImageCoDe, a contextual vison-and-language benchmark