Comments (1)
Hi Deepak,
Thanks! and sorry for the long wait! To answer your question:
When we instantiate a robot model, we can instantiate either with ground truth parameters (which are taken from the Urdf), or with unknown parameter values (for instance randomly initialized). In the 2nd case we would then estimate these parameters from data. So when we generate data, we use the ground truth parameters from the Urdf.
An example of where we generate data using the ground truth model, and then compare learning a "structured robot model" (robot model with randomly initialized parameters) to an "unstructured robot model" (neural network) in the ipython notebook
https://github.com/facebookresearch/differentiable-robot-model/blob/master/experiments/l4dc-sim-exps.ipynb
I hope this helps!
Franziska
from differentiable-robot-model.
Related Issues (13)
- CUDA support HOT 1
- Method compute_endeffector_jacobian does not support batch
- Jacobian is not properly computing the Fixed Joints
- Any support for free floating robot? HOT 10
- ugently need help on a very simple conceptual problem HOT 5
- Enable floating base systems
- ModuleNotFoundError: No module named 'diff_robot_data'
- Jacobian computation fails when joints in urdf are out of order HOT 1
- Support for prismatic joint HOT 1
- Discrepancy between Fwd and Inv Dynamics in CUDA HOT 1
- Dynamic trajopt doesn't work?
- Consider updating `experiments/l4dc-sim-exps.ipynb`?
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from differentiable-robot-model.