Tools for using motion primitives like Dynamic Motion Primitives or Differentiable Linear Dynamic Systems in PyTorch.
- Code the DMP part in a interpretable way.
- Batched CEM optimization for DMPs
- Code differentiable Linear Dynamic Systems (dLDS).
- Code Cubic Splines
- CEM optimization for dLDS and cubic splines.
- Neural output code for training dLDS, splines and DMPs.
- A very simple colab tutorial for introducing these primitives.