[manipulation RL tutorial] faive_gym: train your own robot hand with IsaacGym in the GPU скачать в хорошем качестве

[manipulation RL tutorial] faive_gym: train your own robot hand with IsaacGym in the GPU

This video explains the faive_gym framework for manipulation reinforcement learning which uses the GPU-based Isaac Gym simulator. We start from the basic examples for cube manipulation with the Faive Hand, and at the end explain how you can load your own robot hand in the framework. Resources faive_gym : https://github.com/srl-ethz/faive_gym... Faive Robotics: https://www.faive-robotics.com/ Tutorial: create your own MJCF robot model and simulate it in IsaacGym: https://yasunori.jp/en/2024/07/13/muj... IsaacGymEnvs: https://github.com/NVIDIA-Omniverse/I... Isaac Gym: https://developer.nvidia.com/isaac-gym rl_games: https://github.com/Denys88/rl_games faive_gym tips document: https://snowy-sandpaper-358.notion.si... RL knowledge dump document: https://snowy-sandpaper-358.notion.si... Recent paper using this framework: Toshimitsu, Yasunori, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, and Robert K. Katzschmann. 2023. “Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.” arXiv [Cs.RO]. arXiv. http://arxiv.org/abs/2308.02453