Table of Contents
An Open-Source C++ Library for Robotics and Optimal Control
The ADRL Control Toolbox is a C++ library for efficient modelling, control and estimation for robotics.
The source code is available at https://bitbucket.org/adrlab/ct
Link to the documentation: https://adrlab.bitbucket.io/ct
TOWR - Trajectory Optimizer for Walking Robots
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots
IFOPT - Eigen-based interface to Nonlinear Programming Solvers
A modern, light-weight, Eigen-based C++ interface to Nonlinear Programming solvers, such as Ipopt and Snopt.
XPP - Visualization of Legged Robot Motions in RVIZ
RCARS: Robot-Centric Absolute Reference System
RCARS (Robot-Centric Absolute Reference System) is a ROS Metapackage that provides a lightweight and easy to use, visual inertial state estimation and/or motion capture system. It uses a Simultaneous Localization And Mapping (SLAM) approach based on aritificual landmarks (“fiducials”) observed by a camera and inertial measurement data retrieved from an IMU. Yet, the system is still fast and easily integratable into existing systems.
Link to the source code:https://bitbucket.org/adrlab/rcars/
Link to datasets:http://www.adrl.ethz.ch/software/rcars/datasets
ROCK* Optimization Algorithm for Policy Learning
The ROCK* algorithm is a sampling-based nonlinear function optimizer which works with many classes of functions. The user should specify the initial search distribution (i.e. the mean and the covariance) then the algorithm finds a minimum of the function. We have shown the performance of ROCK* in very high dimensional systems (500 parameters) as well as low dimensional systems . It outperforms the state-of-the-art algorithm, CMA-ES, sometimes by an order of magnitude. It is also very simple to implement it to different systems and objective functions due to its black-box modeling of the system.
Link to the source code: ROCK* Example Implementation
 Jemin Hwangbo, Christian Gehring, Hannes Sommer, Roland Siegwart, Jonas Buchli (2014). ROCK⋆ - Efficient Black-box Optimization for Policy Learning. In Proceedings 2014 IEEE-RAS International Conference on Humanoid Robots PDF
adrl/software.txt · Last modified: 2018/06/27 09:47 by winklera