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

PyTorch implementation of "Learning to Discover Cross-Domain Relations with Generative Adversarial Networks"

Translate darknet to tensorflow. Load trained weights, retrain/fine-tune using tensorflow, export constant graph def to mobile devices

A library for building and serving multi-node distributed faiss indices.

Inflated i3d network with inception backbone, weights transfered from tensorflow

BYOL for Audio: Self-Supervised Learning for General-Purpose Audio Representation

Code for the paper Open Sesame: Getting Inside BERT's Linguistic Knowledge.

Simple ray intersection library similar to coldet - succedeed by libacc

This repository is for our EMNLP 2021 paper "Automated Generation of Accurate & Fluent Medical X-ray Reports"

PyTorch implementation of "A Two-Stage End-to-End System for Speech-in-Noise Hearing Aid Processing"

Learning nonlinear operators via DeepONet

On-device wake word detection powered by deep learning.

A PyTorch implementation of the continual learning experiments with deep neural networks

Neuralnetwork - Basic Multilayer Perceptron Neural Network for deep learning

This code finds bounding box of a single human mouth.

Automatically measure the facial Width-To-Height ratio and get facial analysis results provided by Microsoft Azure

This is the repository for paper NEEDLE: Towards Non-invertible Backdoor Attack to Deep Learning Models.

Functional TensorFlow Implementation of Singular Value Decomposition for paper Fast Graph Learning

Kaggle Ultrasound Nerve Segmentation competition [Keras]

The code for our NeurIPS 2021 paper "Kernelized Heterogeneous Risk Minimization".

Spectral normalization (SN) is a widely-used technique for improving the stability and sample quality of Generative Adversarial Networks (GANs)

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

PyTorch implementation of "Learning to Discover Cross-Domain Relations with Generative Adversarial Networks"

Translate darknet to tensorflow. Load trained weights, retrain/fine-tune using tensorflow, export constant graph def to mobile devices

A library for building and serving multi-node distributed faiss indices.

Inflated i3d network with inception backbone, weights transfered from tensorflow

BYOL for Audio: Self-Supervised Learning for General-Purpose Audio Representation

Code for the paper Open Sesame: Getting Inside BERT's Linguistic Knowledge.

Simple ray intersection library similar to coldet - succedeed by libacc

This repository is for our EMNLP 2021 paper "Automated Generation of Accurate & Fluent Medical X-ray Reports"

PyTorch implementation of "A Two-Stage End-to-End System for Speech-in-Noise Hearing Aid Processing"

Learning nonlinear operators via DeepONet

On-device wake word detection powered by deep learning.

A PyTorch implementation of the continual learning experiments with deep neural networks

Neuralnetwork - Basic Multilayer Perceptron Neural Network for deep learning

This code finds bounding box of a single human mouth.

Automatically measure the facial Width-To-Height ratio and get facial analysis results provided by Microsoft Azure

This is the repository for paper NEEDLE: Towards Non-invertible Backdoor Attack to Deep Learning Models.

Functional TensorFlow Implementation of Singular Value Decomposition for paper Fast Graph Learning

Kaggle Ultrasound Nerve Segmentation competition [Keras]

The code for our NeurIPS 2021 paper "Kernelized Heterogeneous Risk Minimization".

Spectral normalization (SN) is a widely-used technique for improving the stability and sample quality of Generative Adversarial Networks (GANs)

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