DLR-RM ORG

RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.

PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.

Stable Baselines3 is a Python library that gives you reliable, ready-to-run reinforcement learning algorithms built on PyTorch, so you can train AI agents to make decisions by trial and error without coding the algorithms from scratch.

A procedural Blender pipeline for photorealistic training image generation

A training framework for Stable Baselines3 reinforcement learning agents, with hyperparameter optimization and pre-trained agents included.

Algorithms and Publications on 3D Object Tracking

Official Code: Implicit 3D Orientation Learning for 6D Object Detection from RGB Images

Official Code: 3D Scene Reconstruction from a Single Viewport

A collection of pre-trained RL agents using Stable Baselines3

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code of paper „Unknown Object Segmentation from Stereo Images“, IROS 2021

Official Repository for "Finding NeMO: A Geometry-Aware Representation of Template Views for Few-Shot Perception"

Official Code: Estimating Model Uncertainty of Neural Networks in Sparse Information Form, ICML2020.

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Point-to-point motion planning library for articulated robots.

Code and Datasets for 3D Shape Completion related publications

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ROS Mission Control (ROSMC) -- A high-level mission designining and monitoring tool with intuitive graphical interfaces

Graph Assembly processing networks for robotic assembly sequence planning and feasibility learning

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Research code for the RA-L paper: Interactive Incremental Learning of Generalizable Skills with Local Trajectory Modulation

Official Code: Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes

"What's This?" - Learning to Segment Unknown Objects from Manipulation Sequences

Official code: Learning Expressive Priors for Generalization and Uncertainty Estimation in Neural Networks

Convert arbitrary Python objects into JSON strings and back.

Learning to Localize in New Environments from Synthetic Training Data

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Semi-Direct Information-Driven RGB-D SLAM, IEEE RAL 2023

utility functions for the [Stereo Instance on Surfaces (STOIS) dataset

Research-Code for the RA-L Paper about IROSA: A natural language based robot skill adaptation using KMPs

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RAFCON state machine examples using the ROS middleware

Standalone simple Modelica URDF robots

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Source code for IROS 2022 paper: Bayesian Active Learning for Sim-to-Real Robotic Perception.

Code for "6D Object Pose Estimation from Approximate 3D Models for Orbital Robotics", IROS 2023

Code and image database for IROS2022 paper "RECALL: Rehearsal-free Continual Learning for Object Classification". A algorithm to learn new object categories on the fly without forgetting the old ones and without the need to save previous images.

Official code for the IEEE RAL paper: CLEVER: Stream-Based Active Learning for Robust Semantic Perception From Human Instructions

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Code for CoRL23 paper "Topology-matching NFs for OOD Detection in Robot Learning"

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A Plugin for RAFCON to interface arbitrary PDDL Planner.

Porting of gtkmvc to gtk3

tool to handle the content of FMECA tables

Reference results for URDFModelica

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An example RLDS dataset builder for X-embodiment dataset conversion.

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