"Learning Free Gait Transition for Quadruped Robots vis Phase-Guided Controller"

Overview

PhaseGuidedControl

The current version is developed based on the old version of RaiSim series, and possibly requires further modification. It will be upgraded to the current version of RaiSim soon.

This repository contains the RL environment and serveral other necessary code for the paper:

"Learning Free Gait Transition for Quadruped Robots vis Phase-Guided Controller" (DOI: 10.1109/LRA.2021.3136645)

@ARTICLE{9656601,  
author={Shao, Yecheng and Jin, Yongbin and Liu, Xianwei and He, Weiyan and Wang, Hongtao and Yang, Wei},  
journal={IEEE Robotics and Automation Letters},   
title={Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller},   
year={2021},  
volume={},  
number={},  
pages={1-1},  
doi={10.1109/LRA.2021.3136645}
}

Dependencies

This environment uses RaiSim as the physics engine, which requires an activation key. Since the current version is developed based on the old version of raisim, raisimOgre is used for visualization and raisimGym is used for training.

For the algorithms, we use tensorflow and stable-baselines.

Compile

Please follow the guide of raisimGym:

# navigate to the raisimGym folder
cd /WHERE/YOUR/RAISIMGYM/REPO/IS
# first switch to the cpg branch
git checkout cpg
# compile the environment
python3 setup.py install --CMAKE_PREFIX_PATH $LOCAL_BUILD --env /WHERE/YOUR/CUSTOM/ENVIRONMENT/IS

Train

The configuration file cfg/default_cfg.yaml contains some parameters for the training envrionment. Here list some important parameters.

  • useManualPhase: (bool) determines whether to use manually-designed gaits during training

  • threeLegGait: (bool) determines whether to use three-legged gaits during training

  • specificGait: (int) an option to use only one kind of CPG gait during training, -1 for all four gaits

  • noiseFtr: (double) overall amplitude of all the noises, 0 to disable all the noises.

Run the following command to train the model.

python3 scripts/commanded_locomotion_lstm.py

Test

We use the Cheetah-Software for test and hardware depolyment. Copy the files in controller folder to the Cheetah-Software/user and modify the CMakeLists.txt to compile the controller. Our C++ implemented LSTM is also included in those files. Use scripts/params_to_csv.py to generate csv files for the parameters of the LSTM, and save the files to Cheetah-Software/config with proper names.

Owner
X-Mechanics
Center For X-Mechanics, Zhejiang University
X-Mechanics
CTC segmentation python package

CTC segmentation CTC segmentation can be used to find utterances alignments within large audio files. This repository contains the ctc-segmentation py

Ludwig Kürzinger 217 Jan 04, 2023
Photographic Image Synthesis with Cascaded Refinement Networks - Pytorch Implementation

Photographic Image Synthesis with Cascaded Refinement Networks-Pytorch (https://arxiv.org/abs/1707.09405) This is a Pytorch implementation of cascaded

Soumya Tripathy 63 Mar 27, 2022
PyTorch implementation HoroPCA: Hyperbolic Dimensionality Reduction via Horospherical Projections

HoroPCA This code is the official PyTorch implementation of the ICML 2021 paper: HoroPCA: Hyperbolic Dimensionality Reduction via Horospherical Projec

HazyResearch 52 Nov 14, 2022
StyleGAN2 with adaptive discriminator augmentation (ADA) - Official TensorFlow implementation

StyleGAN2 with adaptive discriminator augmentation (ADA) — Official TensorFlow implementation Training Generative Adversarial Networks with Limited Da

NVIDIA Research Projects 1.7k Dec 29, 2022
Riemannian Geometry for Molecular Surface Approximation (RGMolSA)

Riemannian Geometry for Molecular Surface Approximation (RGMolSA) Introduction Ligand-based virtual screening aims to reduce the cost and duration of

11 Nov 15, 2022
The implementation of our CIKM 2021 paper titled as: "Cross-Market Product Recommendation"

FOREC: A Cross-Market Recommendation System This repository provides the implementation of our CIKM 2021 paper titled as "Cross-Market Product Recomme

Hamed Bonab 16 Sep 12, 2022
Towards Boosting the Accuracy of Non-Latin Scene Text Recognition

Convolutional Recurrent Neural Network + CTCLoss | STAR-Net Code for paper "Towards Boosting the Accuracy of Non-Latin Scene Text Recognition" Depende

Sanjana Gunna 7 Aug 07, 2022
The code for 'Deep Residual Fourier Transformation for Single Image Deblurring'

Deep Residual Fourier Transformation for Single Image Deblurring Xintian Mao, Yiming Liu, Wei Shen, Qingli Li and Yan Wang News 2021.12.5 Release Deep

145 Jan 05, 2023
COVID-Net Open Source Initiative

The COVID-Net models provided here are intended to be used as reference models that can be built upon and enhanced as new data becomes available

Linda Wang 1.1k Dec 26, 2022
Implementation of ConvMixer in TensorFlow and Keras

ConvMixer ConvMixer, an extremely simple model that is similar in spirit to the ViT and the even-more-basic MLP-Mixer in that it operates directly on

Sayan Nath 8 Oct 03, 2022
Myia prototyping

Myia Myia is a new differentiable programming language. It aims to support large scale high performance computations (e.g. linear algebra) and their g

Mila 456 Nov 07, 2022
Torch-based tool for quantizing high-dimensional vectors using additive codebooks

Trainable multi-codebook quantization This repository implements a utility for use with PyTorch, and ideally GPUs, for training an efficient quantizer

Daniel Povey 41 Jan 07, 2023
AoT is a system for automatically generating off-target test harness by using build information.

AoT: Auto off-Target Automatically generating off-target test harness by using build information. Brought to you by the Mobile Security Team at Samsun

Samsung 10 Oct 19, 2022
Official PyTorch implementation of MAAD: A Model and Dataset for Attended Awareness

MAAD: A Model for Attended Awareness in Driving Install // Datasets // Training // Experiments // Analysis // License Official PyTorch implementation

7 Oct 16, 2022
《Unsupervised 3D Human Pose Representation with Viewpoint and Pose Disentanglement》(ECCV 2020) GitHub: [fig9]

Unsupervised 3D Human Pose Representation [Paper] The implementation of our paper Unsupervised 3D Human Pose Representation with Viewpoint and Pose Di

42 Nov 24, 2022
source code for 'Finding Valid Adjustments under Non-ignorability with Minimal DAG Knowledge' by A. Shah, K. Shanmugam, K. Ahuja

Source code for "Finding Valid Adjustments under Non-ignorability with Minimal DAG Knowledge" Reference: Abhin Shah, Karthikeyan Shanmugam, Kartik Ahu

Abhin Shah 1 Jun 03, 2022
Keeping it safe - AI Based COVID-19 Tracker using Deep Learning and facial recognition

Keeping it safe - AI Based COVID-19 Tracker using Deep Learning and facial recognition

Vansh Wassan 15 Jun 17, 2021
Deformable DETR is an efficient and fast-converging end-to-end object detector.

Deformable DETR: Deformable Transformers for End-to-End Object Detection.

2k Jan 05, 2023
Syllabus del curso IIC2115 - Programación como Herramienta para la Ingeniería 2022/I

IIC2115 - Programación como Herramienta para la Ingeniería Videos y tutoriales Tutorial CMD Tutorial Instalación Python y Jupyter Tutorial de git-GitH

21 Nov 09, 2022
Code Impementation for "Mold into a Graph: Efficient Bayesian Optimization over Mixed Spaces"

Code Impementation for "Mold into a Graph: Efficient Bayesian Optimization over Mixed Spaces" This repo contains the implementation of GEBO algorithm.

Jaeyeon Ahn 2 Mar 22, 2022