Related papers: dm_control: Software and Tasks for Continuous Cont…
Process management systems support key decisions about the way work is allocated in organizations. This includes decisions on which task to perform next, when to execute the task, and who to assign the task to. Suitable software tools are…
This paper describes the Parametrized Derivative-Free Model Predictive Control pdf-mpc package, a matlab coder-based set of subroutines that enables a model predictive control problem to be defined and solved. the pdf-mpc is made available…
The dynamic mode decomposition (DMD) is a simple and powerful data-driven modeling technique that is capable of revealing coherent spatiotemporal patterns from data. The method's linear algebra-based formulation additionally allows for a…
Pre-trained language models and other generative models have revolutionized NLP and beyond. However, these models tend to reproduce undesirable biases present in their training data. Also, they may overlook patterns that are important but…
We present Simion Zoo, a Reinforcement Learning (RL) workbench that provides a complete set of tools to design, run, and analyze the results,both statistically and visually, of RL control applications. The main features that set apart…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
We introduce a novel virtual robotic toolkit myGym, developed for reinforcement learning (RL), intrinsic motivation and imitation learning tasks trained in a 3D simulator. The trained tasks can then be easily transferred to real-world…
Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…
DL_MONTE is an open source, general-purpose software package for performing Monte Carlo simulations. It includes a wide variety of force fields and MC techniques, and thus is applicable to a broad range of problems in molecular simulation.…
We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combining the ease-of-use of a high-level programming language…
Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
We introduce controlgym, a library of thirty-six industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Model-based optimization approaches for monitoring and control, such as model predictive control and optimal state and parameter estimation, have been used for decades in many engineering applications. Models describing the dynamics,…
This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are…
Simulated humanoids are an appealing research domain due to their physical capabilities. Nonetheless, they are also challenging to control, as a policy must drive an unstable, discontinuous, and high-dimensional physical system. One widely…
FEniCS Mechanics is a Python package to facilitate computational mechanics simulations. The Python library dolfin, from the FEniCS Project, is used to formulate and numerically solve the problem in variational form. The general balance laws…
To diagnose, plan, and treat musculoskeletal pathologies, understanding and reproducing muscle recruitment for complex movements is essential. With muscle activations for movements often being highly redundant, nonlinear, and time…