quadruped-robot-belief-encoder

KO | EN

gitlite — search

#javascript #python #hacktoberfest #ai #golang #go #rust #macos #nodejs #awesome #vue #awesome-list #pytorch #open-source

quadruped-robot-belief-encoder

(★ 78)

Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"

File Explorer

Download Latest Version (.zip)

- figure.png
- - __init__.py
  - actor.py
  - base_nn.py
- - color.py
- agent.py
- config.yaml
- main.py
- storage.py
- CMakeLists.txt
- main.cpp
- TrainManager.hpp
.gitignore
README.md

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# Quadruped robot belief encoder
Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild" [[Paper](https://www.science.org/doi/10.1126/scirobotics.abk2822)]

## Description
This repository includes implementation of two elements.
1. Student policy network
2. Heightmap noise generator

Student policy network is composed of **belief encoder** and **belief decoder** to appropriately fuse both proprioceptive and exteroceptive sensor data. It is implemented in *Python*. 
Privilege information decoder, included in the paper, is excluded because they were not that critical in our experiement.

Heightmap noise generator is composed of **three noise models** to handle errors available in real-world use cases due to depth camera noise, state estimation error/drift etc. 
It is implemented in *C++* because the [Raisim](https://raisim.com/) simulator that we are actively using implements environments in *C++* for fast simulation.

## Dependencies
- numpy
- pytorch
- ruamel.yaml

## Run example
1. Student policy network
```
cd model
python main.py
```

2. Heightmap noise generator
```
cd noise_generator
mkdir build && cd build
cmake ..
make
# After build is finished
./noise_example
```

## Contributor
- [Yunho Kim](https://github.com/awesomericky)
- [Jinhyeok Choi](https://github.com/Triangle2022)

quadruped-robot-belief-encoder

File Explorer

Today's picks

Was this content helpful?

Recent Feedback

quadruped-robot-belief-encoder

File Explorer

Today's picks

Was this content helpful?

Recent Feedback

Download README